Sliding Mode Tracking Control of a Two-Link Robotic Manipulator Using Nonlinear Disturbance Observer

被引：0
|
作者：
Zheng, Wenchao [1 ]
Chen, Mou [1 ]
机构：
[1] Nanjing Univ Aeronaut & Astronaut, Coll Automat Engn, Nanjing, Jiangsu, Peoples R China
来源：
2017 4TH INTERNATIONAL CONFERENCE ON INFORMATION, CYBERNETICS AND COMPUTATIONAL SOCIAL SYSTEMS (ICCSS) | 2017年
基金：
中国国家自然科学基金;
关键词：
Sliding mode control; Manipulator; Position tracking control; Nonlinear disturbance observer;
D O I：
暂无
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
A sliding mode position tracking control scheme is proposed for a two-link robotic manipulator in this paper. A nonlinear disturbance observer (NDO) is taken to enhance trajectory tracking precision and system robustness since the robotic manipulator usually suffers from system uncertainty and disturbance in complex external environment. The closed-loop system stability is analyzed based on the Lyapunov theory. The simulation results are provided to demonstrate the effectiveness of the developed sliding mode trajectory tracking method.
引用
收藏
页码：192 / 197
页数：6
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