Sliding mode control based on high: Order extended state observer for flexible joint robot under time varying disturbance

Rsetam, Kamal and AL-Rawi, Mohammad and Cao, Zhenwei and Man, Zhihong (2021) Sliding mode control based on high: Order extended state observer for flexible joint robot under time varying disturbance. 8 th Engineering and 2 nd International Conference for College of Engineering, Baghdad, Iraq, 24 – 25 November, 2021. (In Press)

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Abstract or Summary

In this paper, a sliding mode control (SMC) with a high order extended state observer (HOESO) is proposed for a flexible joint robot (FJR) system in the presence of time varying external disturbance. A composite controller is integrated the merits of both HOESO and SMC to enhance the tracking performance of FJR system under the time varying and fast lumped disturbance. First, the HOESO estimator is constructed based on only one measured state in order to precisely estimate unknown system states and lumped disturbance with its high order derivatives in the FJR system. Second, the SMC scheme is designed based on such accurate estimations to govern the nominal FJR system by well compensating the estimation error s in the states and the lumped disturbance. To verify the tracking trajectory performance, several simulations have been conducted on the simulated FJR plant model. In addition, the comparison study is performed between the proposed method and the full state feedback linearization control (FLC) with first order ESO (ESO1).

Item Type:Paper presented at a conference, workshop or other event, and published in the proceedings
Keywords that describe the item:robotic flexible join
Subjects:T Technology > T Technology (General)
T Technology > TJ Mechanical engineering and machinery
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Schools > Centre for Engineering and Industrial Design
ID Code:7862
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Deposited On:02 Dec 2021 19:56
Last Modified:02 Dec 2021 19:56

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