Novel sliding-mode disturbance observer-based tracking control with applications to robot manipulators
Sun, Tairen1,2; Cheng, Long2,3; Hou, Zengguang2,3; Tan, Min2,3
发表期刊SCIENCE CHINA-INFORMATION SCIENCES
ISSN1674-733X
2021-07-01
卷号64期号:7页码:12
通讯作者Cheng, Long(long.cheng@ia.ac.cn)
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.
关键词adaptive control robot manipulator disturbance observer sliding mode
DOI10.1007/s11432-020-3043-y
关键词[WOS]SYSTEMS ; DESIGN
收录类别SCI
语种英语
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]
项目资助者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
WOS研究方向Computer Science ; Engineering
WOS类目Computer Science, Information Systems ; Engineering, Electrical & Electronic
WOS记录号WOS:000655603900005
出版者SCIENCE PRESS
七大方向——子方向分类智能控制
引用统计
被引频次:15[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/173211/45198
专题复杂系统管理与控制国家重点实验室_先进机器人
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
第一作者单位中国科学院自动化研究所
通讯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,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.
条目包含的文件
条目无相关文件。
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Sun, Tairen]的文章
[Cheng, Long]的文章
[Hou, Zengguang]的文章
百度学术
百度学术中相似的文章
[Sun, Tairen]的文章
[Cheng, Long]的文章
[Hou, Zengguang]的文章
必应学术
必应学术中相似的文章
[Sun, Tairen]的文章
[Cheng, Long]的文章
[Hou, Zengguang]的文章
相关权益政策
暂无数据
收藏/分享
所有评论 (0)
暂无评论
 

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。