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Información general |
| Autor |
Van, Mien; Kang, Hee-Jun; Suh, Young-Soo |
| Publicado |
InTech Open Access Publisher, 2013
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| Abstract |
In this paper, a robust output feedback tracking
control scheme for motion control of uncertain robot
manipulators without joint velocity measurement based
on a second‐order sliding mode (SOSM) observer is
presented. Two second‐order sliding mode observers
with finite time convergence are developed for velocity
estimation and uncertainty identification, respectively.
The first SOSM observer is used to estimate the state
vector in finite time without filtration. However, for
uncertainty identification, the values are constructed
from the high switching frequencies, necessitating the
application of a filter. To estimate the uncertainties
without filtration, a second SOSM‐based nonlinear
observer is designed. By integrating two SOSM observers,
the resulting observer can theoretically obtain exact
estimations of both velocity and uncertainty. An output
feedback tracking control scheme is then designed based
on the observed values of the state variables and the
direct compensation of matched modelling uncertainty
using their identified values. Finally, results of a
simulation for a PUMA560 robot are shown to verify the
effectiveness of the proposed strategy. |
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International Journal of Advanced Robotic Systems
Autor: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publicado: 2004
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