ESO-Based Fuzzy Sliding-Mode Control for a 3-DOF Serial-Parallel Hybrid Humanoid Arm
Joint Authors
Shi, Runjie
Wang, Hongbin
Wang, Yueling
Source
Journal of Control Science and Engineering
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-08-03
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Electronic engineering
Information Technology and Computer Science
Abstract EN
This paper presents a unique ESO-based fuzzy sliding-mode controller (FSMC-ESO) for a 3-DOF serial-parallel hybrid humanoid arm (HHA) for the trajectory tracking control problem.
The dynamic model of the HHA is obtained by Lagrange method and is nonlinear in dynamics with inertia uncertainty and external disturbance.
The FSMC-ESO is based on the combination of the sliding-mode control (SMC), extended state observer (ESO) theory, and fuzzy control (FC).
The SMC is insensitive to both internal parameter uncertainties and external disturbances.
The motivation for using ESO is to estimate the disturbance in real-time.
The fuzzy parameter self-tuning strategy is proposed to adjust the switching gain on line according to the running state of the system.
The stability of the system is guaranteed in the sense of the Lyapunov stability theorem.
The effectiveness and robustness of the designed FSMC-ESO are illustrated by simulations.
American Psychological Association (APA)
Wang, Yueling& Shi, Runjie& Wang, Hongbin. 2014. ESO-Based Fuzzy Sliding-Mode Control for a 3-DOF Serial-Parallel Hybrid Humanoid Arm. Journal of Control Science and Engineering،Vol. 2014, no. 2014, pp.1-9.
https://search.emarefa.net/detail/BIM-1040189
Modern Language Association (MLA)
Wang, Yueling…[et al.]. ESO-Based Fuzzy Sliding-Mode Control for a 3-DOF Serial-Parallel Hybrid Humanoid Arm. Journal of Control Science and Engineering No. 2014 (2014), pp.1-9.
https://search.emarefa.net/detail/BIM-1040189
American Medical Association (AMA)
Wang, Yueling& Shi, Runjie& Wang, Hongbin. ESO-Based Fuzzy Sliding-Mode Control for a 3-DOF Serial-Parallel Hybrid Humanoid Arm. Journal of Control Science and Engineering. 2014. Vol. 2014, no. 2014, pp.1-9.
https://search.emarefa.net/detail/BIM-1040189
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1040189