A Prescribed-Time Disturbance Estimation Method for Aerial Manipulator System

Jianwei Ma; Yipeng Yang; Sichen Yang; Jinhui Liu; Huanchen Yao; Zhan Li

doi:10.1109/IECON58223.2025.11221126

A Prescribed-Time Disturbance Estimation Method for Aerial Manipulator System

Jianwei Ma
, Yipeng Yang
, Sichen Yang
, Jinhui Liu
, Huanchen Yao
, Zhan Li^*

^*Corresponding author for this work

School of Astronautics

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper proposes a prescribed-time disturbance estimation method for nonlinear systems with unknown nonlinear disturbances, such as aerial manipulators. Taking full account of the fast convergence characteristics of prescribed-time theory and the stability and realizability of the Extended State Observer (ESO) in nonlinear disturbance estimation, this paper integrates the two by introducing bounded time-varying gains. This approach solves the spike problem of traditional ESO at the initial moment and extends the applicability of prescribed-time theory to the full time interval, effectively enhancing the real-time performance and accuracy of disturbance estimation. The effectiveness of the proposed method is verified through simulations.

Original language	English
Title of host publication	IECON 2025 - 51st Annual Conference of the IEEE Industrial Electronics Society
Publisher	IEEE Computer Society
ISBN (Electronic)	9798331596811
DOIs	https://doi.org/10.1109/IECON58223.2025.11221126
State	Published - 2025
Event	51st Annual Conference of the IEEE Industrial Electronics Society, IECON 2025 - Madrid, Spain Duration: 14 Oct 2025 → 17 Oct 2025

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)
ISSN (Print)	2162-4704
ISSN (Electronic)	2577-1647

Conference

Conference	51st Annual Conference of the IEEE Industrial Electronics Society, IECON 2025
Country/Territory	Spain
City	Madrid
Period	14/10/25 → 17/10/25

Keywords

aerial manipulators
bounded time-varying gains
disturbance estimation
full-time interval stability
prescribed-time theory

Access to Document

10.1109/IECON58223.2025.11221126

Cite this

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title = "A Prescribed-Time Disturbance Estimation Method for Aerial Manipulator System",

abstract = "This paper proposes a prescribed-time disturbance estimation method for nonlinear systems with unknown nonlinear disturbances, such as aerial manipulators. Taking full account of the fast convergence characteristics of prescribed-time theory and the stability and realizability of the Extended State Observer (ESO) in nonlinear disturbance estimation, this paper integrates the two by introducing bounded time-varying gains. This approach solves the spike problem of traditional ESO at the initial moment and extends the applicability of prescribed-time theory to the full time interval, effectively enhancing the real-time performance and accuracy of disturbance estimation. The effectiveness of the proposed method is verified through simulations.",

keywords = "aerial manipulators, bounded time-varying gains, disturbance estimation, full-time interval stability, prescribed-time theory",

author = "Jianwei Ma and Yipeng Yang and Sichen Yang and Jinhui Liu and Huanchen Yao and Zhan Li",

note = "Publisher Copyright: {\textcopyright} 2025 IEEE.; 51st Annual Conference of the IEEE Industrial Electronics Society, IECON 2025 ; Conference date: 14-10-2025 Through 17-10-2025",

year = "2025",

doi = "10.1109/IECON58223.2025.11221126",

language = "英语",

series = "IECON Proceedings (Industrial Electronics Conference)",

publisher = "IEEE Computer Society",

booktitle = "IECON 2025 - 51st Annual Conference of the IEEE Industrial Electronics Society",

address = "美国",

}

Ma, J, Yang, Y, Yang, S, Liu, J, Yao, H & Li, Z 2025, A Prescribed-Time Disturbance Estimation Method for Aerial Manipulator System. in IECON 2025 - 51st Annual Conference of the IEEE Industrial Electronics Society. IECON Proceedings (Industrial Electronics Conference), IEEE Computer Society, 51st Annual Conference of the IEEE Industrial Electronics Society, IECON 2025, Madrid, Spain, 14/10/25. https://doi.org/10.1109/IECON58223.2025.11221126

A Prescribed-Time Disturbance Estimation Method for Aerial Manipulator System. / Ma, Jianwei; Yang, Yipeng; Yang, Sichen et al.
IECON 2025 - 51st Annual Conference of the IEEE Industrial Electronics Society. IEEE Computer Society, 2025. (IECON Proceedings (Industrial Electronics Conference)).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A Prescribed-Time Disturbance Estimation Method for Aerial Manipulator System

AU - Ma, Jianwei

AU - Yang, Yipeng

AU - Yang, Sichen

AU - Liu, Jinhui

AU - Yao, Huanchen

AU - Li, Zhan

PY - 2025

Y1 - 2025

N2 - This paper proposes a prescribed-time disturbance estimation method for nonlinear systems with unknown nonlinear disturbances, such as aerial manipulators. Taking full account of the fast convergence characteristics of prescribed-time theory and the stability and realizability of the Extended State Observer (ESO) in nonlinear disturbance estimation, this paper integrates the two by introducing bounded time-varying gains. This approach solves the spike problem of traditional ESO at the initial moment and extends the applicability of prescribed-time theory to the full time interval, effectively enhancing the real-time performance and accuracy of disturbance estimation. The effectiveness of the proposed method is verified through simulations.

AB - This paper proposes a prescribed-time disturbance estimation method for nonlinear systems with unknown nonlinear disturbances, such as aerial manipulators. Taking full account of the fast convergence characteristics of prescribed-time theory and the stability and realizability of the Extended State Observer (ESO) in nonlinear disturbance estimation, this paper integrates the two by introducing bounded time-varying gains. This approach solves the spike problem of traditional ESO at the initial moment and extends the applicability of prescribed-time theory to the full time interval, effectively enhancing the real-time performance and accuracy of disturbance estimation. The effectiveness of the proposed method is verified through simulations.

KW - aerial manipulators

KW - bounded time-varying gains

KW - disturbance estimation

KW - full-time interval stability

KW - prescribed-time theory

UR - https://www.scopus.com/pages/publications/105024693829

U2 - 10.1109/IECON58223.2025.11221126

DO - 10.1109/IECON58223.2025.11221126

M3 - 会议稿件

AN - SCOPUS:105024693829

T3 - IECON Proceedings (Industrial Electronics Conference)

BT - IECON 2025 - 51st Annual Conference of the IEEE Industrial Electronics Society

PB - IEEE Computer Society

T2 - 51st Annual Conference of the IEEE Industrial Electronics Society, IECON 2025

Y2 - 14 October 2025 through 17 October 2025

ER -

A Prescribed-Time Disturbance Estimation Method for Aerial Manipulator System

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