Name
Abstract | ||
|---|---|---|
This paper addresses the sliding mode switching control problem based on disturbance observer for an uncertain robot manipulator system. To enhance the robustness and the anti-disturbance capability of the system control algorithm, the manipulator's switching model is composed of two parts: a slide mode controller and a disturbance observer. Based on multiple Lyapunov stability theorem and average dwell-time method, it is proved that the proposed control scheme can guarantee the global stability and robustness of the resulting closed-loop system of robot manipulators system. The application of the proposed switching control scheme with disturbance observer to a robot manipulator shows satisfactory tracking error performance than in the case of switching control strategy without disturbance observer. |
Year | DOI | Venue |
|---|---|---|
2017 | 10.1007/s00034-016-0421-5 | CSSP |
Keywords | Field | DocType |
Sliding mode switching control, Average dwell-time method, Disturbance observer, Lyapunov theory | State observer,Control theory,Control theory,Lyapunov stability,Control engineering,Robustness (computer science),Control system,Observer (quantum physics),Mathematics,Sliding mode control,Tracking error | Journal |
Volume | Issue | ISSN |
36 | 6 | 1531-5878 |
Citations | PageRank | References |
5 | 0.42 | 21 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Lei Yu | 1 | 18 | 4.48 |
| jun huang | 2 | 90 | 13.64 |
| Shu-Min Fei | 3 | 1150 | 96.93 |