Position tracking control of robotic system subject to matched and mismatched disturbances

DOI10.1155/2020/9531354MaRDI QIDQ2004151zbMATH OpenOpenAlexFDO

Authors Xia Liu, Dandan Liu, Hao Sheng

Publication date 14 October 2020

Published in Mathematical Problems in Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2020/9531354

Mathematics Subject Classification ID

Observability (93B07) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85)

Review text

Summary: For nonlinear coupled robotic system subject to matched and mismatched disturbances, this paper designs an adaptive disturbance observer-based exponential sliding mode controller to achieve position tracking. Firstly, matched disturbance, mismatched disturbance, and the derivative of mismatched disturbance are defined as the lumped disturbance in robotic system. Secondly, a nonlinear disturbance observer is constructed to estimate the lumped disturbance, and an adaptive law is proposed to estimate the bound of the lumped disturbance. Finally, an exponential sliding mode controller is derived by combining the nonlinear disturbance observer and exponential convergence law. Stability and tracking performance of the robotic system is analyzed via Lyapunov function approach. Simulation results show that, with the proposed approach, both matched and mismatched disturbances in robotic system can be effectively depressed while achieving position tracking.

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Cites work

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Cited in

(2)

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• Nonlinear disturbance observer-based robust predefined time tracking and vibration suppression control for the rigid-flexible coupled robotic mechanisms with large beam-deformations

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