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Novel sliding-mode disturbance observer-based tracking control with applications to robot manipulators

文献类型：期刊论文

作者Sun, Tairen1,2; Cheng, Long2,3; Hou, Zengguang2,3; Tan, Min2,3
刊名SCIENCE CHINA-INFORMATION SCIENCES
出版日期2021-07-01
卷号64期号:7页码:12
关键词adaptive control robot manipulator disturbance observer sliding mode
ISSN号1674-733X
DOI10.1007/s11432-020-3043-y
通讯作者Cheng, Long(long.cheng@ia.ac.cn)
英文摘要This paper proposes a sliding-mode disturbance observer (SMDOB)-based tracking controller for a class of nonlinear systems with modeling uncertainties and external disturbances. The SMDOB is constructed using an extended state observer embedded by a filtered sliding mode term. The chattering caused by the sliding mode is compressed by the frequency bandwidths of both the extended state observer and the control system. The novelties of the proposed controller are as follows: (1) The semiglobal asymptotical stability of the combined controller-observer system is guaranteed without the boundedness assumption of the time derivatives of modeling uncertainties; (2) the SMDOB can be implemented with a low complexity because of only three parameters to be tuned. Applications to robot manipulators illustrate the effectiveness of the SMDOB-based tracking control strategy.
WOS关键词SYSTEMS ; DESIGN
资助项目National Key Research and Development Project[2019YFB1-312503] ; National Natural Science Foundation of China[U1913209] ; National Natural Science Foundation of China[61720106012] ; National Natural Science Foundation of China[61873268] ; National Natural Science Foundation of China[61633016] ; Beijing Natural Science Foundation[JQ19020] ; Beijing Natural Science Foundation[L182060] ; Strategic Priority Research Program of Chinese Academy of Sciences[XDB32040000]
WOS研究方向Computer Science ; Engineering
语种英语
WOS记录号WOS:000655603900005
出版者SCIENCE PRESS
资助机构National Key Research and Development Project ; National Natural Science Foundation of China ; Beijing Natural Science Foundation ; Strategic Priority Research Program of Chinese Academy of Sciences
源URL[http://ir.ia.ac.cn/handle/173211/45197]  
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Cheng, Long
作者单位1.Jiangsu Univ, Sch Elect & Informat Engn, Zhenjiang 212013, Jiangsu, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
3.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
推荐引用方式
GB/T 7714		 Sun, Tairen,Cheng, Long,Hou, Zengguang,et al. Novel sliding-mode disturbance observer-based tracking control with applications to robot manipulators[J]. SCIENCE CHINA-INFORMATION SCIENCES,2021,64(7):12.
APA Sun, Tairen,Cheng, Long,Hou, Zengguang,&Tan, Min.(2021).Novel sliding-mode disturbance observer-based tracking control with applications to robot manipulators.SCIENCE CHINA-INFORMATION SCIENCES,64(7),12.
MLA Sun, Tairen,et al."Novel sliding-mode disturbance observer-based tracking control with applications to robot manipulators".SCIENCE CHINA-INFORMATION SCIENCES 64.7(2021):12.

入库方式： OAI收割

来源：自动化研究所

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