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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Published in | World Congress on Engineering 2012. July 4-6, 2012. London, UK Vol. 2193; pp. 216 - 221 |
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Main Authors | , |
Format | Journal Article |
Language | English |
Published |
01.10.2011
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Subjects | |
Online Access | Get full text |
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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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Bibliography: | ObjectType-Article-2 SourceType-Scholarly Journals-1 ObjectType-Feature-1 content type line 23 ObjectType-Conference-3 SourceType-Conference Papers & Proceedings-2 |
ISSN: | 2078-0958 |