Sliding Mode Control for Flexible Joint using Uncertainty and Disturbance Estimation

This paper proposes sliding mode control based on uncertainty and disturbance estimator (UDE), for trajectory tracking control of flexible joint robotic system. UDE is used to estimate plant uncertainty and disturbances. The controller does not requires knowledge of plant uncertainty and external di...

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Bibliographic Details
Published inWorld Congress on Engineering 2012. July 4-6, 2012. London, UK Vol. 2193; pp. 216 - 221
Main Authors Shendge, Pramod D, Suryawanshi, Prasheel V
Format Journal Article
LanguageEnglish
Published 01.10.2011
Subjects
Computer simulation
Control systems
Disturbances
Estimators
Perturbation methods
Sliding mode control
Uncertainty
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Summary:This paper proposes sliding mode control based on uncertainty and disturbance estimator (UDE), for trajectory tracking control of flexible joint robotic system. UDE is used to estimate plant uncertainty and disturbances. The controller does not requires knowledge of plant uncertainty and external disturbance. Reaching phase is eliminated for robustifkation. The perturbation is efficiently compensated by feedback of the estimated value. The proposed reference model is to track the plant states according to this model. The closed loop stability for this model with uncertainty and disturbance is also proposed.
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ISSN:2078-0958