一类基于外部干扰观测器的非线性系统控制设计

Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering Pub Date : 2018-02-07 DOI:10.1145/3191477.3191482

Dao Phuong Nam, Dongkui Tan, Bui Minh Thang, N. T. Thanh

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引用次数: 0

摘要

本文分析了有限时间收敛在滑模控制中的重要作用以及所选参数对控制性能的影响。本文的主要技术是基于微分方程的性质。此外，还对参数依赖问题进行了一些探索。仿真结果表明，所提方法对柔性关节机械臂系统具有良好的性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Control Design for A Class of Nonlinear Systems Based on External Disturbance Observer

This paper presents some analysis about the essential role of finite time convergence in sliding mode control and effects of selected parameters on control performance. The main technique of this paper based on properties of differential equation. Moreover, several exploration in depending of parameters are given out. Simulation results pointed out the good behaviour of the proposed methods for flexible joint manipulator systems.

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Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering

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