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 |
ISSN | 1674-733X |
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 |
DOI | 10.1007/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 | |
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. |
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