{"title":"基于错配复合干扰观测器的机器人操纵器自适应跟踪控制器","authors":"Zhongtao Liu, Weikai He, Xiangbao Li, Cungen Liu, Huaizhi Shao, Peng Fu","doi":"10.1049/cth2.12690","DOIUrl":null,"url":null,"abstract":"<p>The paper is devoted to the adaptive tracking control based on the mismatched disturbance observer for motor-driven robotic manipulators. A novel mismatched disturbance observer is introduced, which does not make bounded derivative assumptions on mismatched disturbances in the robotic manipulator system. Additionally, a new adaptive tracking controller for a motor-driven robotic manipulator based on the mismatched disturbance observer is designed, which guarantees that all closed-loop signals are globally uniformly bounded and the tracking error is asymptotic stable. Finally, the simulation comparisons are carried out between the proposed and existing control strategies to demonstrate the superiority of the developed controller.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"18 11","pages":"1357-1370"},"PeriodicalIF":2.2000,"publicationDate":"2024-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12690","citationCount":"0","resultStr":"{\"title\":\"A mismatched composite disturbance observer-based adaptive tracking controller for robotic manipulators\",\"authors\":\"Zhongtao Liu, Weikai He, Xiangbao Li, Cungen Liu, Huaizhi Shao, Peng Fu\",\"doi\":\"10.1049/cth2.12690\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<p>The paper is devoted to the adaptive tracking control based on the mismatched disturbance observer for motor-driven robotic manipulators. A novel mismatched disturbance observer is introduced, which does not make bounded derivative assumptions on mismatched disturbances in the robotic manipulator system. Additionally, a new adaptive tracking controller for a motor-driven robotic manipulator based on the mismatched disturbance observer is designed, which guarantees that all closed-loop signals are globally uniformly bounded and the tracking error is asymptotic stable. Finally, the simulation comparisons are carried out between the proposed and existing control strategies to demonstrate the superiority of the developed controller.</p>\",\"PeriodicalId\":50382,\"journal\":{\"name\":\"IET Control Theory and Applications\",\"volume\":\"18 11\",\"pages\":\"1357-1370\"},\"PeriodicalIF\":2.2000,\"publicationDate\":\"2024-06-14\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12690\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IET Control Theory and Applications\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://onlinelibrary.wiley.com/doi/10.1049/cth2.12690\",\"RegionNum\":4,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"AUTOMATION & CONTROL SYSTEMS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IET Control Theory and Applications","FirstCategoryId":"94","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1049/cth2.12690","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
A mismatched composite disturbance observer-based adaptive tracking controller for robotic manipulators
The paper is devoted to the adaptive tracking control based on the mismatched disturbance observer for motor-driven robotic manipulators. A novel mismatched disturbance observer is introduced, which does not make bounded derivative assumptions on mismatched disturbances in the robotic manipulator system. Additionally, a new adaptive tracking controller for a motor-driven robotic manipulator based on the mismatched disturbance observer is designed, which guarantees that all closed-loop signals are globally uniformly bounded and the tracking error is asymptotic stable. Finally, the simulation comparisons are carried out between the proposed and existing control strategies to demonstrate the superiority of the developed controller.
期刊介绍：
IET Control Theory & Applications is devoted to control systems in the broadest sense, covering new theoretical results and the applications of new and established control methods. Among the topics of interest are system modelling, identification and simulation, the analysis and design of control systems (including computer-aided design), and practical implementation. The scope encompasses technological, economic, physiological (biomedical) and other systems, including man-machine interfaces.
Most of the papers published deal with original work from industrial and government laboratories and universities, but subject reviews and tutorial expositions of current methods are welcomed. Correspondence discussing published papers is also welcomed.
Applications papers need not necessarily involve new theory. Papers which describe new realisations of established methods, or control techniques applied in a novel situation, or practical studies which compare various designs, would be of interest. Of particular value are theoretical papers which discuss the applicability of new work or applications which engender new theoretical applications.
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