A Novel Nonlinear Disturbance Observer Embedded Second-Order Finite Time Tracking-Based Controller for Robotic Manipulators
文献类型：期刊论文
| 作者 | Ren, Bin; Wang, Yao; Chen, Jiayu; Chen, Silu |
| 刊名 | JOURNAL OF COMPUTING AND INFORMATION SCIENCE IN ENGINEERING
 |
| 出版日期 | 2021 |
| 卷号 | 21期号:6 |
| 关键词 | TERMINAL SLIDING MODE NEURAL-NETWORK CONTROL DESIGN |
| 英文摘要 | Robotic manipulators are complex and dynamic nonlinear mechanical systems subject to numerous uncertainties, such as payload variations, frictions, and unmodeled dynamics. To mitigate the uncertainty caused by these disturbances and minimize the tracking errors of the controllers, this study proposed a finite time tracking-based controller (FTC) that embeds a (NDO) and a second-order sliding-mode modifier (SOSM). The NDO was incorporated to compensate for the system's global bounded uncertainty and the SOSM used a robust nonsingular terminal sliding-mode modifier to stabilize the controller. The theoretical analysis showed that the tracking error could quickly converge in finite time. Simulation on a typical robotics manipulator demonstrated the practical appeal of the proposed scheme. |
| 源URL | [http://ir.nimte.ac.cn/handle/174433/21271]  |
| 专题 | 2021专题_期刊论文 |
| 作者单位 | Ren, B (corresponding author), Shanghai Univ, Sch Mechatron Engn & Automat, Shanghai Key Lab Intelligent Mfg & Robot, Shanghai 200444, Peoples R China. |
| 推荐引用方式 GB/T 7714 | Ren, Bin,Wang, Yao,Chen, Jiayu,et al. A Novel Nonlinear Disturbance Observer Embedded Second-Order Finite Time Tracking-Based Controller for Robotic Manipulators[J]. JOURNAL OF COMPUTING AND INFORMATION SCIENCE IN ENGINEERING,2021,21(6). |
| APA | Ren, Bin,Wang, Yao,Chen, Jiayu,&Chen, Silu.(2021).A Novel Nonlinear Disturbance Observer Embedded Second-Order Finite Time Tracking-Based Controller for Robotic Manipulators.JOURNAL OF COMPUTING AND INFORMATION SCIENCE IN ENGINEERING,21(6). |
| MLA | Ren, Bin,et al."A Novel Nonlinear Disturbance Observer Embedded Second-Order Finite Time Tracking-Based Controller for Robotic Manipulators".JOURNAL OF COMPUTING AND INFORMATION SCIENCE IN ENGINEERING 21.6(2021). |
入库方式： OAI收割
来源：宁波材料技术与工程研究所
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