基于扰动观测器的柔性关节机械臂系统滑模控制

Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering Pub Date : 2018-02-07 DOI:10.1145/3191477.3191481

Dao Phuong Nam, Dongkui Tan, Pham Thanh Loc, V. Dung

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引用次数: 1

摘要

提出了一种柔性关节单连杆机械臂的外部干扰观测器。此外，采用合适的参数，得到了任意小的吸引区域。本文的主要结论是基于微分方程分析得出的。此外，还对参数依赖问题进行了一些探索。仿真结果表明了所提方法的良好性能。

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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Disturbance Observer Based Sliding Mode Control For Flexible Joint Manipulator Systems

This paper presents a external disturbance observer (DO) for flexible joint single link manipulator. Besides, the arbitrary small attraction region is obtained by using the suitable parameters. The main result of this paper is proposed based on differential equation analysis. Moreover, several exploration in depending of parameters are given out. Simulation results pointed out the good behaviour of the proposed methods.

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

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