带有扰动观测器的机器人机械手非奇异固定时间容错滑模控制

IF 2.5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

International Journal of Control Automation and Systems Pub Date : 2024-05-29 DOI:10.1007/s12555-022-0594-6

Xiaohan Fang, Rong Cheng, Songsong Cheng, Yuan Fan

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引用次数: 0

摘要

本文针对一类具有不确定性、外部干扰和致动器故障的机器人机械手，提出了一种具有固定时间收敛性的非奇异滑模容错控制方法。我们通过设计扰动观测器来估计自摩擦和外部扰动。此外，基于扰动观测器，我们为所考虑的不确定机器人机械手提出了一种滑模控制方法。最后，我们通过一个数值示例证明了所提方法的有效性。

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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Nonsingular Fixed-time Fault-tolerant Sliding Mode Control of Robot Manipulator With Disturbance Observer

This paper presents a nonsingular sliding mode fault-tolerant control method with fixed-time convergence for a class of robot manipulators with uncertainties, external disturbances, and actuator failures. We estimate self-friction and external disturbances by designing a disturbance observer. Furthermore, based on the disturbance observer, we propose a sliding mode control method for the considered uncertain robot manipulator. Finally, the effectiveness of the proposed method is demonstrated by a numerical example.

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来源期刊

International Journal of Control Automation and Systems 工程技术-自动化与控制系统

CiteScore

5.80

自引率

21.90%

发文量

343

审稿时长

8.7 months

期刊介绍： International Journal of Control, Automation and Systems is a joint publication of the Institute of Control, Robotics and Systems (ICROS) and the Korean Institute of Electrical Engineers (KIEE). The journal covers three closly-related research areas including control, automation, and systems. The technical areas include Control Theory Control Applications Robotics and Automation Intelligent and Information Systems The Journal addresses research areas focused on control, automation, and systems in electrical, mechanical, aerospace, chemical, and industrial engineering in order to create a strong synergy effect throughout the interdisciplinary research areas.