Sliding Mode Control Using Disturbance Observer for a Flexible Link Robot

被引：0

作者：

Han, Linyan ^{[1
]}

Wu, Qingxian ^{[1
]}

Chen, Mou ^{[1
]}

Li, Xiaoran ^{[1
]}

机构：

[1] Nanjing Univ Aeronaut & Astronaut, Coll Automat Engn, Nanjing, Jiangsu, Peoples R China

来源：

2016 14TH INTERNATIONAL WORKSHOP ON VARIABLE STRUCTURE SYSTEMS (VSS) | 2016年

关键词：

2DOFSFL robot; backstepping control; sliding mode control; position tracking control; DO; MANIPULATORS; SYSTEMS;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This article focuses on the robust position tracking control of a two-degree-of-freedom serial flexible link (2DOFSFL) robot. With a disturbance observer (DO), the robust backstepping sliding mode controller which combines both the merits of the backstepping control and sliding mode control, is proposed to deal with the position tracking control problem of a 2DOFSFL robot in the presence of disturbances. The disturbance observer is employed to estimate the unknown disturbance which caused by DC motors and unknown external environment. The relevant experimental results are given to illustrate the effectiveness of the proposed control strategy for the position tracking of the 2DOFSFL robot system.

引用

页码：448 / 453

页数：6

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