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Semiglobal exponential control of Euler-Lagrange systems using a sliding-mode disturbance observer

文献类型：期刊论文

作者Sun, Tairen1; Cheng, Long1; Wang, Weiqun1; Pan, Yongping2
刊名AUTOMATICA
出版日期2020-02-01
卷号112页码:5
关键词Sliding mode control Disturbance observer Trajectory tracking Euler-Lagrange systems
ISSN号0005-1098
DOI10.1016/j.automatica.2019.108677
通讯作者Pan, Yongping(panyongp@mail.sysu.edu.cn)
英文摘要Sliding-mode disturbance observer (SMDOB) is appealing for its ability in the estimation of system uncertainties and disturbances without introducing serious chattering in the sliding mode technique. However, existing SMDOB-based controllers with stability guarantee were analyzed by only considering disturbances or under a strict assumption that the time derivatives of system uncertainties are bounded prior to control implementation. This paper proposes a SMDOB-based tracking control strategy for Euler-Lagrange systems with modeling uncertainties and external disturbances. The SMDOB is designed by the construction of an extended state observer embedded by an improved super-twisting algorithm. Compared with existing SMDOB-based controllers, the significant advantage of the proposed controller lies in semiglobal exponential stability guarantee for the combined observer-controller system without the assumption that the time derivatives of modeling uncertainties are bounded by constants. The chattering caused by switching signals is alleviated by passing the switching signals through a low-pass filter in the SMDOB and is compressed by the frequency bandwidths of both the SMDOB and the control system. The effectiveness of the designed SMDOB-based controller is illustrated by simulations on a two-link robot manipulator. (C) 2019 Elsevier Ltd. All rights reserved.
WOS关键词TRACKING CONTROL
资助项目National Natural Science Foundation of China[61720106012] ; National Natural Science Foundation of China[61533016] ; National Natural Science Foundation of China[61873268] ; National Natural Science Foundation of China[61633016] ; National Natural Science Foundation of China[61703295] ; Beijing Natural Science Foundation[3171001] ; Beijing Natural Science Foundation[L172050] ; Beijing Natural Science Foundation[L182060] ; Strategic Priority Research Program of Chinese Academy of Science[XDB32040000] ; China Postdoctoral Science Foundation[2018M642190] ; China Postdoctoral Science Foundation[2019T120405]
WOS研究方向Automation & Control Systems ; Engineering
语种英语
WOS记录号WOS:000509617800059
出版者PERGAMON-ELSEVIER SCIENCE LTD
资助机构National Natural Science Foundation of China ; Beijing Natural Science Foundation ; Strategic Priority Research Program of Chinese Academy of Science ; China Postdoctoral Science Foundation
源URL[http://ir.ia.ac.cn/handle/173211/28570]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者Pan, Yongping
作者单位1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Sun Yat Sen Univ, Sch Data & Comp Sci, Guangzhou 510006, Peoples R China
推荐引用方式
GB/T 7714		 Sun, Tairen,Cheng, Long,Wang, Weiqun,et al. Semiglobal exponential control of Euler-Lagrange systems using a sliding-mode disturbance observer[J]. AUTOMATICA,2020,112:5.
APA Sun, Tairen,Cheng, Long,Wang, Weiqun,&Pan, Yongping.(2020).Semiglobal exponential control of Euler-Lagrange systems using a sliding-mode disturbance observer.AUTOMATICA,112,5.
MLA Sun, Tairen,et al."Semiglobal exponential control of Euler-Lagrange systems using a sliding-mode disturbance observer".AUTOMATICA 112(2020):5.

入库方式： OAI收割

来源：自动化研究所

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