scholarly journals Corrections to “Extended State Observer-Based Integral Sliding Mode Control for an Underwater Robot With Unknown Disturbances and Uncertain Nonlinearities”

2019 ◽  
Vol 66 (10) ◽  
pp. 8279-8280 ◽  
Author(s):  
Rongxin Cui ◽  
Lepeng Chen ◽  
Chenguang Yang ◽  
Mou Chen
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
State Observer ◽  
Extended State Observer ◽  
Underwater Robot ◽  
Extended State ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Mode Control ◽  
Unknown Disturbances

Order-reduced-model based integral sliding mode control of a heavy-duty hydraulic manipulator with disturbances estimation

2021 ◽  
pp. 095965182110585
Author(s):  
Xinping Guo ◽  
Hengsheng Wang ◽  
Xin He ◽  
Xiaoyu Sun ◽  
Hui Liu
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Heavy Duty ◽  
Integral Sliding Mode Control ◽  
Mode Control ◽  
Hydraulic Manipulator

A sliding mode control method is adapted to the trajectory tracking and positioning control of a heavy-duty hydraulic manipulator in this article, which shows high performance with the drive of hydraulic proportional valve. The dynamic model of the system is established, the complexity of which is reduced based on the singular perturbation theory to simplify the analysis and the online calculation of the control variable. The extended state observer is developed in the control loop to estimate the real-time disturbances including the parameter uncertainties and load changes of the system. The integral sliding mode control law is designed combining the extended state observer, and the stability of the system is proved theoretically. The experimental results on a heavy-duty hydraulic manipulator show that the proposed control method has high dynamic tracking performance and positioning accuracy, and the proposed extended state observer can effectively resist disturbances.

scholarly journals An extended state observer-based full-order sliding mode control for robotic joint actuated by antagonistic pneumatic artificial muscles

2021 ◽  
Vol 18 (1) ◽  
pp. 172988142098603
Author(s):  
Daoxiong Gong ◽  
Mengyao Pei ◽  
Rui He ◽  
Jianjun Yu
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
State Observer ◽  
Extended State Observer ◽  
Artificial Muscles ◽  
Extended State ◽  
Robot System ◽  
Mode Control ◽  
Physical Experiments ◽  
Pneumatic Artificial Muscles

Pneumatic artificial muscles (PAMs) are expected to play an important role in endowing the advanced robot with the compliant manipulation, which is very important for a robot to coexist and cooperate with humans. However, the strong nonlinear characteristics of PAMs hinder its wide application in robots, and therefore, advanced control algorithms are urgently needed for making the best use of the advantages and bypassing the disadvantages of PAMs. In this article, we propose a full-order sliding mode control extended state observer (fSMC-ESO) algorithm that combines the ESO and the fSMC for a robotic joint actuated by a pair of antagonistic PAMs. The fSMC is employed to eliminate the chattering and to guarantee the finite-time convergence, and the ESO is adopted to observe both the total disturbance and the states of the robot system, so that we can inhibit the disturbance and compensate the nonlinearity efficiently. Both simulations and physical experiments are conducted to validate the proposed method. We suggest that the proposed method can be applied to the robotic systems actuated by PAMs and remarkably improve the performance of the robot system.

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