Position Tracking Control of Robotic System Subject to Matched and Mismatched Disturbances
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-09-23
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Liu, Xia& Liu, Dandan& Sheng, Hao. 2020. Position Tracking Control of Robotic System Subject to Matched and Mismatched Disturbances. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-11.
https://search.emarefa.net/detail/BIM-1202313
Modern Language Association (MLA)
Liu, Xia…[et al.]. Position Tracking Control of Robotic System Subject to Matched and Mismatched Disturbances. Mathematical Problems in Engineering No. 2020 (2020), pp.1-11.
https://search.emarefa.net/detail/BIM-1202313
American Medical Association (AMA)
Liu, Xia& Liu, Dandan& Sheng, Hao. Position Tracking Control of Robotic System Subject to Matched and Mismatched Disturbances. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-11.
https://search.emarefa.net/detail/BIM-1202313
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1202313