External Torque Estimation using Higher-order Sliding Mode Observer for Robot Manipulators

2021 ◽  
pp. 1-1
Author(s):  
Suneel Kumar Kommuri ◽  
Seungyong Han ◽  
Sangmoon Lee
Keyword(s):  
Sliding Mode ◽  
Robot Manipulators ◽  
Higher Order ◽  
Sliding Mode Observer ◽  
External Torque ◽  
Torque Estimation

Higher Order Sliding Mode Observer-Based Control

2004 ◽  
Vol 37 (21) ◽  
pp. 481-486 ◽  
Author(s):  
R. Castro-Linares ◽  
A. Glumineau ◽  
S. Laghrouche ◽  
F. Plestan
Keyword(s):  
Sliding Mode ◽  
Higher Order ◽  
Sliding Mode Observer

Adaptive Sliding Mode Observer for Back-EMF in Direct Torque Control of Brushless DC Motor

2013 ◽  
Vol 850-851 ◽  
pp. 572-575
Author(s):  
Song Lin Wang ◽  
Shun Yi Xie
Keyword(s):  
Sliding Mode ◽  
Direct Torque Control ◽  
Sliding Mode Observer ◽  
Torque Control ◽  
Accurate Estimation ◽  
Adaptive Sliding Mode ◽  
Brushless Dc ◽  
Online Identification ◽  
Torque Estimation ◽  
Stator Resistance

The key issue of feedback torque calculation in BLDCM-DTC system is how to get the accurate estimation of back-emf. The influences form the deviation of resistance and inductance on traditional back-emf sliding mode observer (SMO) and relevant torque observation results are analyzed. To advance the accuracy of the torque estimation, an adaptive sliding mode observer is designed to estimate the back-emf of the BLDCM and then get torque estimation from the back-emf estimation. The proposed sliding mode observer can also implement the online identification of the stator resistance and inductance simultaneously. Simulation results demonstrate the proposed method is valid and effective.

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