Robust Output Feedback Tracking Control for Flexible-Joint Robots Based on CTSMC Technique

被引：23
作者：
Wang, Huiming [1 ,2 ,3 ]
Peng, Weiwei [1 ]
Tan, Xin [1 ]
Sun, Jiankun [4 ,5 ]
Tang, Xianlun [1 ]
Chen, I-Ming [2 ]
机构：
[1] Chongqing Univ Posts & Telecommun, Chongqing Key Lab Complex Syst & Bion Control, Chongqing 400065, Peoples R China
[2] Nanyang Technol Univ, Sch Mech & Aerosp Engn, Singapore 639798, Singapore
[3] Nanyang Technol Univ, Robot Res Ctr, Singapore 639798, Singapore
[4] Huazhong Univ Sci & Technol, Sch Artificial Intelligence & Automat, Wuhan 430074, Peoples R China
[5] Educ Minist China, Key Lab Image Proc & Intelligent Control, Wuhan 430074, Peoples R China
来源：
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS | 2021年 / 68卷 / 06期
基金：
中国国家自然科学基金;
关键词：
Robots; Aerodynamics; Output feedback; Observers; Circuits and systems; Time-varying systems; Actuators; Continuous terminal sliding mode control (CTSMC); sliding mode observer (SMO); time-varying disturbance; mismatched disturbance; flexible-joint robots (FJRs); SYSTEMS;
D O I：
10.1109/TCSII.2020.3037355
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 brief considers a robust finite-time output feedback control scheme for the tracking problem of flexible-joint (FJ) robotic systems subject to unknown matched and mismatched time-varying disturbances. For this purpose, a novel dynamic terminal sliding mode surface is firstly constructed base on a sliding mode observer. Then, a continuous finite-time control scheme is developed to cope with these disturbances. Besides, the proposed controller guarantees the finite-time convergence of the closed-loop system and requires only the measurements of link positions. Finally, a two-link FJ robot as an example is provided to illustrate the effectiveness of the proposed control scheme.
引用
收藏
页码：1982 / 1986
页数：5
相关论文
共 22 条
[1]   Geometric homogeneity with applications to finite-time stability [J].
Bhat, SP ;
Bernstein, DS .
MATHEMATICS OF CONTROL SIGNALS AND SYSTEMS, 2005, 17 (02) :101-127
[2]   Gait-Event-Based Synchronization Method for Gait Rehabilitation Robots via a Bioinspired Adaptive Oscillator [J].
Chen, Gong ;
Qi, Peng ;
Guo, Zhao ;
Yu, Haoyong .
IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING, 2017, 64 (06) :1345-1356
[3]   Asynchronous Output Feedback Control for a Class of Conic-Type Nonlinear Hidden Markov Jump Systems Within a Finite-Time Interval [J].
Cheng, Peng ;
He, Shuping ;
Cheng, Jun ;
Luan, Xiaoli ;
Liu, Fei .
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, 2021, 51 (12) :7644-7651
[4]   The Variable Boundary Layer Sliding Mode Control: A Safe and Performant Control for Compliant Joint Manipulators [J].
El Makrini, Ilias ;
Rodriguez-Guerrero, Carlos ;
Lefeber, Dirk ;
Vanderborght, Bram .
IEEE ROBOTICS AND AUTOMATION LETTERS, 2017, 2 (01) :187-192
[5]   Chattering free full-order sliding-mode control [J].
Feng, Yong ;
Han, Fengling ;
Yu, Xinghuo .
AUTOMATICA, 2014, 50 (04) :1310-1314
[6]   Disturbance observer based sliding mode control of nonlinear mismatched uncertain systems [J].
Ginoya, Divyesh ;
Shendge, P. D. ;
Phadke, S. B. .
COMMUNICATIONS IN NONLINEAR SCIENCE AND NUMERICAL SIMULATION, 2015, 26 (1-3) :98-107
[7]   From PID to Active Disturbance Rejection Control [J].
Han, Jingqing .
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2009, 56 (03) :900-906
[8]   Robust H∞ Sliding Mode Controller Design of a Class of Time-Delayed Discrete Conic-Type Nonlinear Systems [J].
He, Shuping ;
Lyu, Weizhi ;
Liu, Fei .
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, 2021, 51 (02) :885-892
[9]   Adaptive sliding control for single-link flexible-joint robot with mismatched uncertainties [J].
Huang, AC ;
Chen, YC .
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2004, 12 (05) :770-775
[10]   Robust sliding mode-control of a robot manipulator based on variable structure-mode reference adaptive control approach [J].
Huh, S.-H. ;
Bien, Z. .
IET CONTROL THEORY AND APPLICATIONS, 2007, 1 (05) :1355-1363
123