Position Tracking Control of Robotic System Subject to Matched and Mismatched Disturbances

Xia Liu, Dandan Liu and Hao Sheng

Mathematical Problems in Engineering, 2020, vol. 2020, 1-11

Abstract:

For nonlinear coupled robotic system subject to matched and mismatched disturbances, this paper designs an adaptive disturbance observer-based exponential sliding mode controller to achieve position tracking. Firstly, matched disturbance, mismatched disturbance, and the derivative of mismatched disturbance are defined as the lumped disturbance in robotic system. Secondly, a nonlinear disturbance observer is constructed to estimate the lumped disturbance, and an adaptive law is proposed to estimate the bound of the lumped disturbance. Finally, an exponential sliding mode controller is derived by combining the nonlinear disturbance observer and exponential convergence law. Stability and tracking performance of the robotic system is analyzed via Lyapunov function approach. Simulation results show that, with the proposed approach, both matched and mismatched disturbances in robotic system can be effectively depressed while achieving position tracking.

Date: 2020
References: Add references at CitEc
Citations:

Downloads: (external link)
http://downloads.hindawi.com/journals/MPE/2020/9531354.pdf (application/pdf)
http://downloads.hindawi.com/journals/MPE/2020/9531354.xml (text/xml)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:9531354

DOI: 10.1155/2020/9531354

Access Statistics for this article

More articles in Mathematical Problems in Engineering from Hindawi
Bibliographic data for series maintained by Mohamed Abdelhakeem ().