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

doi:10.1016/j.automatica.2019.108677

	Semiglobal exponential control of Euler-Lagrange systems using a sliding-mode disturbance observer
	Sun, Tairen 1; Cheng, Long1 ; Wang, Weiqun1 ; Pan, Yongping 2
发表期刊	AUTOMATICA
ISSN	0005-1098
	2020-02-01
卷号	112 页码:5
通讯作者	Pan, Yongping(panyongp@mail.sysu.edu.cn)
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.
关键词	Sliding mode control Disturbance observer Trajectory tracking Euler-Lagrange systems
DOI	10.1016/j.automatica.2019.108677
关键词[WOS]	TRACKING CONTROL
收录类别	SCI
语种	英语
资助项目	China Postdoctoral Science Foundation[2019T120405] ; China Postdoctoral Science Foundation[2018M642190] ; Strategic Priority Research Program of Chinese Academy of Science[XDB32040000] ; Beijing Natural Science Foundation[L182060] ; Beijing Natural Science Foundation[L172050] ; Beijing Natural Science Foundation[3171001] ; National Natural Science Foundation of China[61703295] ; National Natural Science Foundation of China[61633016] ; National Natural Science Foundation of China[61873268] ; National Natural Science Foundation of China[61533016] ; National Natural Science Foundation of China[61720106012] ; 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]
项目资助者	National Natural Science Foundation of China ; Beijing Natural Science Foundation ; Strategic Priority Research Program of Chinese Academy of Science ; China Postdoctoral Science Foundation
WOS研究方向	Automation & Control Systems ; Engineering
WOS类目	Automation & Control Systems ; Engineering, Electrical & Electronic
WOS记录号	WOS:000509617800059
出版者	PERGAMON-ELSEVIER SCIENCE LTD
七大方向——子方向分类	智能控制
引用统计	被引频次：49[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/28571
专题	复杂系统认知与决策实验室_先进机器人
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
第一作者单位	中国科学院自动化研究所
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.