Name
Abstract | ||
|---|---|---|
This paper develops a composite tracking controller for a two-link manipulator. Because a completely accurate dynamic model for a manipulator is unavailable in practice and because a manipulator generally suffers from all types of unknown external disturbances from its working environment, a high-order disturbance observer (HODO) is introduced. Both the internal and external disturbances are regarded as a total compound disturbance to be estimated by the HODO. To achieve excellent tracking performance of a self-designed manipulator platform for any bounded initial state, a sliding-mode controller is proposed with disturbance estimation compensation. The bounded stability of the closed-loop control system is analyzed with the Lyapunov method. Finally, simulation results and experimental results are provided to demonstrate the effectiveness of the proposed tracking controller |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1109/ACCESS.2018.2834978 | IEEE ACCESS |
Keywords | Field | DocType |
Manipulator,high-order disturbance observer,sliding mode control,tracking control | Lyapunov function,Control theory,Control theory,Computer science,Manipulator,Potential energy,Control system,Observer (quantum physics),Bounded function,Distributed computing | Journal |
Volume | ISSN | Citations |
6 | 2169-3536 | 1 |
PageRank | References | Authors |
0.35 | 0 | 2 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Wenchao Zheng | 1 | 1 | 0.69 |
| Mou Chen | 2 | 1251 | 59.31 |