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
收藏
页码：3024 / 3028
页数：5
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