A Disturbance Observer Based Sliding Mode Control for a Class of Underactuated Robotic System With Mismatched Uncertainties

In this note, a high-order disturbance observer for a class of underactuated robotic systems with mismatched uncertainties is proposed. To improve its estimation performance, a choice method of optimal gain matrices of the high-order disturbance observer is obtained as the solution of an optimizatio...

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Bibliographic Details
Published inIEEE transactions on automatic control Vol. 64; no. 6; p. 2480
Main Authors Huang, Jian, Songhyok Ri, Fukuda, Toshio, Wang, Yongji
Format Journal Article
LanguageEnglish
Published New York The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 01.06.2019
Subjects
Disturbance observers
Feedback control
Optimization
Robotics
Sliding mode control
Uncertainty
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ISSN0018-9286
1558-2523
DOI10.1109/TAC.2018.2868026

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Summary:In this note, a high-order disturbance observer for a class of underactuated robotic systems with mismatched uncertainties is proposed. To improve its estimation performance, a choice method of optimal gain matrices of the high-order disturbance observer is obtained as the solution of an optimization problem. A high-order disturbance observer based sliding mode control method is also designed for this class of underactuated robotic system with mismatched disturbance. The stabilities of both the disturbance observer and the controlled closed-loop system are proved by the Lyapunov theorem. Simulations on a benchmark Acrobot system demonstrate the efficiency of proposed approaches.
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ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2018.2868026