Disturbance estimation based sliding mode control of DD robot /
This paper introduces a new robust tracking control algorithm for a class of second order nonlinear motion control system. The consolidation of the disturbance estimator into the sliding mode controller demonstrates significant performance improvement over the full state feedback form of the sliding...
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| Main Authors: | , , |
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| Format: | Book Chapter |
| Jezik: | English |
| Teme: | |
| Sorodne knjige/članki: | Vsebovano v:
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| Izvleček: | This paper introduces a new robust tracking control algorithm for a class of second order nonlinear motion control system. The consolidation of the disturbance estimator into the sliding mode controller demonstrates significant performance improvement over the full state feedback form of the sliding mode control. The stability analysis shows that as long as the estimator stability is guaranted, the controller can be also stable. A design procedure for a systematic formulation of the new routine is presented utilizing frequency domain techniques. Experiments on a -DOF Puma like direct drive robot confirm the superior performance of proposed sliding motion controller. The The salient feature of the proposed approach is a computationally straightforward procedure that is easy implement. |
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| Fizični opis: | Str. 83-88. |
| Bibliografija: | Bibliografija: str. 87-88. |
| ISBN: | 3000044825 |