scholarly journals Model-free output feedback discrete sliding mode control with disturbance compensation for precision motion systems

2020 ◽  
Vol 14 (14) ◽  
pp. 1867-1876
Author(s):  
Min Li ◽  
Shuhua Tan ◽  
Jiaxi Xiong ◽  
Jinqiang Gan ◽  
Xinxin Zhang
Keyword(s):  
Sliding Mode Control ◽  
Output Feedback ◽  
Sliding Mode ◽  
Disturbance Compensation ◽  
Mode Control ◽  
Model Free ◽  
Precision Motion ◽  
Discrete Sliding Mode Control

Output feedback sliding mode control for robot manipulators

Robotica ◽  
2010 ◽  
Vol 28 (7) ◽  
pp. 975-987 ◽  
Author(s):  
Shafiqul Islam ◽  
Peter X. Liu
Keyword(s):  
Sliding Mode Control ◽  
Output Feedback ◽  
Sliding Mode ◽  
Theoretical Development ◽  
State Variables ◽  
Boundedness Property ◽  
Mode Control ◽  
Model Free ◽  
Uniform Ultimate Boundedness ◽  
Linear Observer

SUMMARYIn this work, we propose an output feedback sliding mode control (SMC) method for trajectory tracking of robotic manipulators. The design process has two steps. First, we design a stable SMC controller by assuming that all state variables are available. Then, an output feedback version of this SMC design is presented, which incorporates a model-free linear observer to estimate unknown velocity signals. We then show that the tracking performance under the output feedback design can asymptotically converge to the performance achieved under state-feedback-based SMC design. A detailed stability analysis is given, which shows semi-global uniform ultimate boundedness property of all the closed-loop signals. The proposed method is implemented and evaluated on a robotic system to illustrate the effectiveness of the theoretical development.

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