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Novel sliding-mode disturbance observer-based tracking control with applications to robot manipulators

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Abstract

This paper proposes a sliding-mode disturbance observer (SMDOB)-based tracking controller for a class of nonlinear systems with modeling uncertainties and external disturbances. The SMDOB is constructed using an extended state observer embedded by a filtered sliding mode term. The chattering caused by the sliding mode is compressed by the frequency bandwidths of both the extended state observer and the control system. The novelties of the proposed controller are as follows: (1) The semiglobal asymptotical stability of the combined controller-observer system is guaranteed without the boundedness assumption of the time derivatives of modeling uncertainties; (2) the SMDOB can be implemented with a low complexity because of only three parameters to be tuned. Applications to robot manipulators illustrate the effectiveness of the SMDOB-based tracking control strategy.

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Acknowledgements

This work was supported in part by National Key Research and Development Project (Grant No. 2019YFB1-312503), National Natural Science Foundation of China (Grant Nos. U1913209, 61720106012, 61873268, 61633016), Beijing Natural Science Foundation (Grant Nos. JQ19020, L182060), and Strategic Priority Research Program of Chinese Academy of Sciences (Grant No. XDB32040000).

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Authors and Affiliations

  1. School of Electrical and Information Engineering, Jiangsu University, Zhenjiang, 212013, China

    Tairen Sun

  2. State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, 100190, China

    Tairen Sun, Long Cheng, Zengguang Hou & Min Tan

  3. School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, 100049, China

    Long Cheng, Zengguang Hou & Min Tan

Authors
  1. Tairen Sun
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  2. Long Cheng
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  3. Zengguang Hou
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  4. Min Tan
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Correspondence to Long Cheng.

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Sun, T., Cheng, L., Hou, Z. et al. Novel sliding-mode disturbance observer-based tracking control with applications to robot manipulators. Sci. China Inf. Sci. 64, 172205 (2021). https://doi.org/10.1007/s11432-020-3043-y

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  • DOI: https://doi.org/10.1007/s11432-020-3043-y

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