A Novel Adaptive Sliding Mode Control for Manipulator with External Disturbance

被引：0

作者：

Jiang, Sen ^{[1
]}

Zhao, Jing ^{[1
,2
]}

Xie, Fei ^{[3
,4
]}

Fu, Jian ^{[5
]}

Wang, Xian ^{[1
]}

Li, Zeyun ^{[1
]}

机构：

[1] Nanjing Univ Posts & Telecommun, Sch Automat, Nanjing 210023, Jiangsu, Peoples R China

[2] Jiangsu Engn Lab Intelligent IOT Robots, Nanjing 210023, Jiangsu, Peoples R China

[3] Jiangsu Key Lab 3D Printing Equipment & Mfg, Nanjing 210042, Jiangsu, Peoples R China

[4] Nanjing Normal Univ, Sch Elect & Automat Engn, Nanjing 210042, Jiangsu, Peoples R China

[5] Nanjing Univ Sci & Technol, Coll Energy & Power Engn, Nanjing 210094, Jiangsu, Peoples R China

来源：

2018 37TH CHINESE CONTROL CONFERENCE (CCC) | 2018年

关键词：

Dynamic Sliding Mode Control; Adaptive Control; Manipulator; Disturbance;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a sliding mode control method for manipulator in the presence of external disturbance is addressed. Firstly, the dynamic model of n-joint manipulator system is introduced. Secondly, aiming at a manipulator system with disturbance, a novel dynamic sliding mode controller based on adaptive technique is proposed, in which the parameter of external disturbance is estimated and updated by online adaptive method. Further, the stability of the overall system under this controller is verified based on Lyapunov theorem. Besides, through this method, there is no need to obtain the precise value of disturbance. Finally, experimental results demonstrate that the controller proposed in this work has strong robustness for disturbance, meanwhile can effectively reduce the chattering.

引用

页码：3024 / 3028

页数：5

共 50 条

[1] Adaptive dynamic sliding mode control for space manipulator with external disturbance
Zhao, Jing
Jiang, Sen
Xie, Fei
Wang, Xian
Li, Zeyun
[J]. JOURNAL OF CONTROL AND DECISION, 2019, 6 (04) : 236 - 251
[2] Terminal sliding mode control for coordinated motion of a space rigid manipulator with external disturbance
Yi-shen Guo
Li Chen
[J]. Applied Mathematics and Mechanics, 2008, 29
[3] Terminal sliding mode control for coordinated motion of a space rigid manipulator with external disturbance
Guo Yi-shen
Chen Li
[J]. APPLIED MATHEMATICS AND MECHANICS-ENGLISH EDITION, 2008, 29 (05) : 583 - 590
[4] Terminal sliding mode control for coordinated motion of a space rigid manipulator with external disturbance
郭益深
陈力
[J]. Applied Mathematics and Mechanics(English Edition), 2008, (05) : 583 - 590
[5] A novel fixed-time sliding mode control for nonlinear manipulator systems based on adaptive disturbance observer
Shi, Ran
Zhang, Xin
Zhu, Zijun
[J]. ASIAN JOURNAL OF CONTROL, 2023, 25 (04) : 3144 - 3159
[6] Robust Optimal Adaptive Sliding Mode Control with the Disturbance Observer for a Manipulator Robot System
Kun-Yung Chen
[J]. International Journal of Control, Automation and Systems, 2018, 16 : 1701 - 1715
[7] Robust Optimal Adaptive Sliding Mode Control with the Disturbance Observer for a Manipulator Robot System
Chen, Kun-Yung
[J]. INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2018, 16 (04) : 1701 - 1715
[8] Adaptive Sliding Mode Control for the Excavator Manipulator
Guosheng Xu
Guangming Lv
Nianli Lu
[J]. Journal of Harbin Institute of Technology(New series), 2020, 27 (02) : 27 - 35
[9] Terminal sliding mode control for robotic manipulator based on sliding mode disturbance observer
Han, Junqing
Wu, Aiguo
Dong, Na
[J]. Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology), 2020, 51 (10): : 2749 - 2757
[10] Nonlinear Integral Sliding Mode Control with Adaptive Extreme Learning Machine and Robust Control Term for Anti-External Disturbance Robotic Manipulator
Junyi Yang
Zhiyu Zhou
Jiangfei Ji
[J]. Arabian Journal for Science and Engineering, 2023, 48 : 2375 - 2397

← 1 2 3 4 5 →