A Novel Composite Controller Design for Manipulator with Flexible Component under Time-varying Uncertainties and Disturbances
文献类型：会议论文
| 作者 | Wang, Baolei; Zhang, Chi; Jia, Qingwei; Shi, Zhaohui |
| 出版日期 | 2021 |
| 会议日期 | MAY 14-16, 2021 |
| DOI | 10.1109/ICoIAS53694.2021.00065 |
| 英文摘要 | The paper studies the trajectory tracking problem of manipulator with flexible component under time-varying uncertainties and disturbances. An originality and novelty composite control method is developed for the manipulator with flexible component systems, which is targeted to reduce the effect of the disturbances on the systems and improve the tracking performance. The composite control method mainly consists of a robust continuous sliding mode control algorithm and a finite-time observer based control methodology. The robust continuous sliding mode control algorithm is designed to ensure the trajectory tracking dynamic response and normal disturbance rejection ability of the manipulator through the high frequency joint kinematics control channel. The finite-time observer based control methodology is designed to reduce the effect of the violent disturbance and improve the tracking performance through low frequency manipulator joint dynamics control channel. The stability analysis is guaranteed by Lyapunov stability criteria. Simulations have been conducted to verify the performance of the proposed algorithm. |
| 学科主题 | Automation & Control Systems ; Computer Science |
| ISBN号 | 978-1-6654-4195-7 |
| 源URL | [http://ir.nimte.ac.cn/handle/174433/23263]  |
| 专题 | 会议专题 会议专题_会议论文 |
| 推荐引用方式 GB/T 7714 | Wang, Baolei,Zhang, Chi,Jia, Qingwei,et al. A Novel Composite Controller Design for Manipulator with Flexible Component under Time-varying Uncertainties and Disturbances[C]. 见:. MAY 14-16, 2021. |
入库方式： OAI收割
来源：宁波材料技术与工程研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。