Continuous output feedback sliding mode control for underactuated flexible-joint robot

DOI10.1016/J.JFRANKLIN.2022.08.020MaRDI QIDQ2676115zbMATH OpenOpenAlexFDO

Authors H. M. Wang, Zhize Zhang, Xianlun Tang, Yunda Yan, Zhen-Hua Zhao

Publication date 27 September 2022

Published in Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.jfranklin.2022.08.020

zbMATH Keywords

continuous sliding mode controlfeedbackflexible-joint robotgeneralized proportional integral observer

Mathematics Subject Classification ID

Variable structure systems (93B12) Feedback control (93B52) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• Chattering free full-order sliding-mode control
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• Continuous nonsingular terminal sliding mode control for systems with mismatched disturbances
• Distributed Active Anti-Disturbance Consensus for Leader-Follower Higher-Order Multi-Agent Systems With Mismatched Disturbances
• Finite-time super-twisting sliding mode control for Mars entry trajectory tracking
• Flatness and defect of non-linear systems: introductory theory and examples
• scientific article; zbMATH DE number 3809880 (Why is no real title available?)
• Iterative learning impedance control for rehabilitation robots driven by series elastic actuators
• Motion control of underactuated mechanical systems
• Notice of Removal: A Disturbance Observer Based Sliding Mode Control for a Class of Underactuated Robotic System With Mismatched Uncertainties
• Output feedback based simultaneous stabilization of two port-controlled Hamiltonian systems with disturbances
• Robust tracking control for a class of electrically driven flexible-joint robots without velocity measurements
• Second-order sliding mode controller design subject to mismatched term
• Second-order sliding mode controller design with output constraint

Cited in

(8)

• A global output feedback controller for flexible joint robots
• Sliding mode control of the prismatic-prismatic-revolute mobile robot with a flexible joint
• scientific article; zbMATH DE number 7351026 (Why is no real title available?)
• Neural network based dynamic surface integral nonsingular fast terminal sliding mode control for manipulators with disturbance rejection
• Direct control of the endpoint of the manipulator under non-smooth uncertainty and reference trajectories
• Model identification control strategy for coupled elastic joint flexible load drive system based on NNSMC controller and new deformation description
• Fast fixed-time extended state observer based command filtering backstepping control of free-flying flexible-joint space robots
• Synthesis of robust tracking systems with fulfillment of specified constraints on state variables, control and reference actions

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