Extended State Observer Based Adaptive Backstepping Nonsingular Fast Terminal Sliding-mode Control for Robotic Manipulators with Uncertainties View Full Text


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Article Info

DATE

2022-08-27

AUTHORS

Zhenghong Xu, Xiaohui Yang, Siyi Zhou, Wenjie Zhang, Wei Zhang, Shuang Yang, Peter Xiaoping Liu

ABSTRACT

This paper proposes a novel robust finite-time tracking control scheme for robotic manipulators with uncertainties and external disturbances. In order to reduce the chattering phenomenon and enhance the robustness of the system, we design a novel extended state observer with filter function for estimating the lumped term of system uncertainties and external disturbances. We adopt the backstepping mechanism to design an adaptive backstepping nonsingular fast terminal sliding mode controller, achieve finite time convergence of the tracking errors while avoiding the singularity problem. An adaptive update law is designed for the switching gain, which further weakens the chattering problem. The finite-time convergence of tracking errors and the stability of the closed-loop system are ensured by the Lyapunov criterion. In comparison with other control methods, numerical simulation on a two-link rigid robot manipulator demonstrates the effectiveness and superiority of the proposed method. More... »

PAGES

2972-2982

References to SciGraph publications

  • 2020-01-22. New Sliding Mode Control of 2-DOF Robot Manipulator Based on Extended Grey Wolf Optimizer in INTERNATIONAL JOURNAL OF CONTROL, AUTOMATION AND SYSTEMS
  • 2011. Advanced Sliding Mode Control for Mechanical Systems, Design, Analysis and MATLAB Simulation in NONE
  • 2021-06-22. On the Disturbance Rejection Control of Flexible-joint Robot: A GPIO-based Approach in INTERNATIONAL JOURNAL OF CONTROL, AUTOMATION AND SYSTEMS
  • 2020-08-05. Finite Time Fractional-order Adaptive Backstepping Fault Tolerant Control of Robotic Manipulator in INTERNATIONAL JOURNAL OF CONTROL, AUTOMATION AND SYSTEMS
  • 2019-09-23. Sliding Mode Boundary Control for a Planar Two-link Rigid-flexible Manipulator with Input Disturbances in INTERNATIONAL JOURNAL OF CONTROL, AUTOMATION AND SYSTEMS
  • Identifiers

    URI

    http://scigraph.springernature.com/pub.10.1007/s12555-021-0559-1

    DOI

    http://dx.doi.org/10.1007/s12555-021-0559-1

    DIMENSIONS

    https://app.dimensions.ai/details/publication/pub.1150553856


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