Continuous output feedback sliding mode control for underactuated flexible-joint robot

The tracking control based on output feedback for a category of flexible-joint robot (FJR) systems is investigated in this brief. Control performance of the systems is inevitably bearing the brunt of various unknown time-varying disturbances, which can be categorized to be matched and mismatched and...
Ausführliche Beschreibung

Gespeichert in:

Autor*in:	Wang, Huiming [verfasserIn] Zhang, Zhize [verfasserIn] Tang, Xianlun [verfasserIn] Zhao, Zhenhua [verfasserIn] Yan, Yunda [verfasserIn]

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2022

Übergeordnetes Werk:	Enthalten in: Journal of the Franklin Institute - Franklin Institute$gPhiladelphia, Pa. ; ID: gnd/38821-X, Amsterdam [u.a.] : Elsevier Science, 1829, 359, Seite 7847-7865
Übergeordnetes Werk:	volume:359 ; pages:7847-7865

DOI / URN:	10.1016/j.jfranklin.2022.08.020

Katalog-ID:	ELV008482276

Internformat


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024	7		\|a 10.1016/j.jfranklin.2022.08.020 \|2 doi
035			\|a (DE-627)ELV008482276
035			\|a (ELSEVIER)S0016-0032(22)00571-3
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100	1		\|a Wang, Huiming \|e verfasserin \|0 (orcid)0000-0003-3109-0195 \|4 aut
245	1	0	\|a Continuous output feedback sliding mode control for underactuated flexible-joint robot
264		1	\|c 2022
336			\|a nicht spezifiziert \|b zzz \|2 rdacontent
337			\|a Computermedien \|b c \|2 rdamedia
338			\|a Online-Ressource \|b cr \|2 rdacarrier
520			\|a The tracking control based on output feedback for a category of flexible-joint robot (FJR) systems is investigated in this brief. Control performance of the systems is inevitably bearing the brunt of various unknown time-varying disturbances, which can be categorized to be matched and mismatched and generally cover internal parameter uncertainties, couplings, unmodelled dynamics, and external load or changing operating environments. To cope with these disturbances, the mismatched disturbances are first transferred to the matched ones by a flatness method, which eliminates the computational cost of estimating mismatched disturbances. Then, a generalized proportional integral observer (GPIO) is constructed to estimate the unavailable states and disturbances. By integrating the estimated disturbance and states provided by the GPIO, a novel dynamic sliding surface is constructed. Finally, a continuous sliding mode control (CSMC)-based output feedback control framework is further designed. The presented control strategy only requires link position information and is continuous, which can effectively reduce the chattering driven by the high-frequency switching item in the traditional SMC method. Asymptotic convergence of output tracking error is guaranteed by theoretical analysis under some mild conditions. Comparative tests on a two-link FJR verify the claimed control performance.
700	1		\|a Zhang, Zhize \|e verfasserin \|0 (orcid)0000-0002-0867-0936 \|4 aut
700	1		\|a Tang, Xianlun \|e verfasserin \|4 aut
700	1		\|a Zhao, Zhenhua \|e verfasserin \|0 (orcid)0000-0003-2831-9606 \|4 aut
700	1		\|a Yan, Yunda \|e verfasserin \|0 (orcid)0000-0002-2839-6778 \|4 aut
773	0	8	\|i Enthalten in \|a Franklin Institute$gPhiladelphia, Pa. ; ID: gnd/38821-X \|t Journal of the Franklin Institute \|d Amsterdam [u.a.] : Elsevier Science, 1829 \|g 359, Seite 7847-7865 \|h Online-Ressource \|w (DE-627)320464954 \|w (DE-600)2007754-3 \|w (DE-576)259484628 \|x 1879-2693 \|7 nnns
773	1	8	\|g volume:359 \|g pages:7847-7865
912			\|a GBV_USEFLAG_U
912			\|a SYSFLAG_U
912			\|a GBV_ELV
912			\|a SSG-OPC-MAT
912			\|a GBV_ILN_20
912			\|a GBV_ILN_22
912			\|a GBV_ILN_23
912			\|a GBV_ILN_24
912			\|a GBV_ILN_31
912			\|a GBV_ILN_32
912			\|a GBV_ILN_40
912			\|a GBV_ILN_60
912			\|a GBV_ILN_62
912			\|a GBV_ILN_63
912			\|a GBV_ILN_65
912			\|a GBV_ILN_69
912			\|a GBV_ILN_70
912			\|a GBV_ILN_73
912			\|a GBV_ILN_74
912			\|a GBV_ILN_90
912			\|a GBV_ILN_95
912			\|a GBV_ILN_100
912			\|a GBV_ILN_105
912			\|a GBV_ILN_110
912			\|a GBV_ILN_150
912			\|a GBV_ILN_151
912			\|a GBV_ILN_224
912			\|a GBV_ILN_370
912			\|a GBV_ILN_602
912			\|a GBV_ILN_702
912			\|a GBV_ILN_2003
912			\|a GBV_ILN_2004
912			\|a GBV_ILN_2005
912			\|a GBV_ILN_2011
912			\|a GBV_ILN_2014
912			\|a GBV_ILN_2015
912			\|a GBV_ILN_2020
912			\|a GBV_ILN_2021
912			\|a GBV_ILN_2025
912			\|a GBV_ILN_2027
912			\|a GBV_ILN_2034
912			\|a GBV_ILN_2038
912			\|a GBV_ILN_2044
912			\|a GBV_ILN_2048
912			\|a GBV_ILN_2049
912			\|a GBV_ILN_2050
912			\|a GBV_ILN_2056
912			\|a GBV_ILN_2059
912			\|a GBV_ILN_2061
912			\|a GBV_ILN_2064
912			\|a GBV_ILN_2065
912			\|a GBV_ILN_2068
912			\|a GBV_ILN_2111
912			\|a GBV_ILN_2112
912			\|a GBV_ILN_2113
912			\|a GBV_ILN_2118
912			\|a GBV_ILN_2122
912			\|a GBV_ILN_2129
912			\|a GBV_ILN_2143
912			\|a GBV_ILN_2147
912			\|a GBV_ILN_2148
912			\|a GBV_ILN_2152
912			\|a GBV_ILN_2153
912			\|a GBV_ILN_2190
912			\|a GBV_ILN_2336
912			\|a GBV_ILN_2507
912			\|a GBV_ILN_2522
912			\|a GBV_ILN_4035
912			\|a GBV_ILN_4037
912			\|a GBV_ILN_4112
912			\|a GBV_ILN_4125
912			\|a GBV_ILN_4126
912			\|a GBV_ILN_4242
912			\|a GBV_ILN_4251
912			\|a GBV_ILN_4305
912			\|a GBV_ILN_4313
912			\|a GBV_ILN_4323
912			\|a GBV_ILN_4324
912			\|a GBV_ILN_4326
912			\|a GBV_ILN_4333
912			\|a GBV_ILN_4334
912			\|a GBV_ILN_4335
912			\|a GBV_ILN_4338
912			\|a GBV_ILN_4393
936	b	k	\|a 31.80 \|j Angewandte Mathematik
951			\|a AR
952			\|d 359 \|h 7847-7865

Indexfelder

author_variant	h w hw z z zz x t xt z z zz y y yy
matchkey_str	article:18792693:2022----::otnosuptedakldnmdcnrloudrcut
hierarchy_sort_str	2022
bklnumber	31.80
publishDate	2022
allfields	10.1016/j.jfranklin.2022.08.020 doi (DE-627)ELV008482276 (ELSEVIER)S0016-0032(22)00571-3 DE-627 ger DE-627 rda eng 510 DE-600 31.80 bkl Wang, Huiming verfasserin (orcid)0000-0003-3109-0195 aut Continuous output feedback sliding mode control for underactuated flexible-joint robot 2022 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier The tracking control based on output feedback for a category of flexible-joint robot (FJR) systems is investigated in this brief. Control performance of the systems is inevitably bearing the brunt of various unknown time-varying disturbances, which can be categorized to be matched and mismatched and generally cover internal parameter uncertainties, couplings, unmodelled dynamics, and external load or changing operating environments. To cope with these disturbances, the mismatched disturbances are first transferred to the matched ones by a flatness method, which eliminates the computational cost of estimating mismatched disturbances. Then, a generalized proportional integral observer (GPIO) is constructed to estimate the unavailable states and disturbances. By integrating the estimated disturbance and states provided by the GPIO, a novel dynamic sliding surface is constructed. Finally, a continuous sliding mode control (CSMC)-based output feedback control framework is further designed. The presented control strategy only requires link position information and is continuous, which can effectively reduce the chattering driven by the high-frequency switching item in the traditional SMC method. Asymptotic convergence of output tracking error is guaranteed by theoretical analysis under some mild conditions. Comparative tests on a two-link FJR verify the claimed control performance. Zhang, Zhize verfasserin (orcid)0000-0002-0867-0936 aut Tang, Xianlun verfasserin aut Zhao, Zhenhua verfasserin (orcid)0000-0003-2831-9606 aut Yan, Yunda verfasserin (orcid)0000-0002-2839-6778 aut Enthalten in Franklin Institute$gPhiladelphia, Pa. ; ID: gnd/38821-X Journal of the Franklin Institute Amsterdam [u.a.] : Elsevier Science, 1829 359, Seite 7847-7865 Online-Ressource (DE-627)320464954 (DE-600)2007754-3 (DE-576)259484628 1879-2693 nnns volume:359 pages:7847-7865 GBV_USEFLAG_U SYSFLAG_U GBV_ELV SSG-OPC-MAT GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 31.80 Angewandte Mathematik AR 359 7847-7865
spelling	10.1016/j.jfranklin.2022.08.020 doi (DE-627)ELV008482276 (ELSEVIER)S0016-0032(22)00571-3 DE-627 ger DE-627 rda eng 510 DE-600 31.80 bkl Wang, Huiming verfasserin (orcid)0000-0003-3109-0195 aut Continuous output feedback sliding mode control for underactuated flexible-joint robot 2022 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier The tracking control based on output feedback for a category of flexible-joint robot (FJR) systems is investigated in this brief. Control performance of the systems is inevitably bearing the brunt of various unknown time-varying disturbances, which can be categorized to be matched and mismatched and generally cover internal parameter uncertainties, couplings, unmodelled dynamics, and external load or changing operating environments. To cope with these disturbances, the mismatched disturbances are first transferred to the matched ones by a flatness method, which eliminates the computational cost of estimating mismatched disturbances. Then, a generalized proportional integral observer (GPIO) is constructed to estimate the unavailable states and disturbances. By integrating the estimated disturbance and states provided by the GPIO, a novel dynamic sliding surface is constructed. Finally, a continuous sliding mode control (CSMC)-based output feedback control framework is further designed. The presented control strategy only requires link position information and is continuous, which can effectively reduce the chattering driven by the high-frequency switching item in the traditional SMC method. Asymptotic convergence of output tracking error is guaranteed by theoretical analysis under some mild conditions. Comparative tests on a two-link FJR verify the claimed control performance. Zhang, Zhize verfasserin (orcid)0000-0002-0867-0936 aut Tang, Xianlun verfasserin aut Zhao, Zhenhua verfasserin (orcid)0000-0003-2831-9606 aut Yan, Yunda verfasserin (orcid)0000-0002-2839-6778 aut Enthalten in Franklin Institute$gPhiladelphia, Pa. ; ID: gnd/38821-X Journal of the Franklin Institute Amsterdam [u.a.] : Elsevier Science, 1829 359, Seite 7847-7865 Online-Ressource (DE-627)320464954 (DE-600)2007754-3 (DE-576)259484628 1879-2693 nnns volume:359 pages:7847-7865 GBV_USEFLAG_U SYSFLAG_U GBV_ELV SSG-OPC-MAT GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 31.80 Angewandte Mathematik AR 359 7847-7865
allfields_unstemmed	10.1016/j.jfranklin.2022.08.020 doi (DE-627)ELV008482276 (ELSEVIER)S0016-0032(22)00571-3 DE-627 ger DE-627 rda eng 510 DE-600 31.80 bkl Wang, Huiming verfasserin (orcid)0000-0003-3109-0195 aut Continuous output feedback sliding mode control for underactuated flexible-joint robot 2022 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier The tracking control based on output feedback for a category of flexible-joint robot (FJR) systems is investigated in this brief. Control performance of the systems is inevitably bearing the brunt of various unknown time-varying disturbances, which can be categorized to be matched and mismatched and generally cover internal parameter uncertainties, couplings, unmodelled dynamics, and external load or changing operating environments. To cope with these disturbances, the mismatched disturbances are first transferred to the matched ones by a flatness method, which eliminates the computational cost of estimating mismatched disturbances. Then, a generalized proportional integral observer (GPIO) is constructed to estimate the unavailable states and disturbances. By integrating the estimated disturbance and states provided by the GPIO, a novel dynamic sliding surface is constructed. Finally, a continuous sliding mode control (CSMC)-based output feedback control framework is further designed. The presented control strategy only requires link position information and is continuous, which can effectively reduce the chattering driven by the high-frequency switching item in the traditional SMC method. Asymptotic convergence of output tracking error is guaranteed by theoretical analysis under some mild conditions. Comparative tests on a two-link FJR verify the claimed control performance. Zhang, Zhize verfasserin (orcid)0000-0002-0867-0936 aut Tang, Xianlun verfasserin aut Zhao, Zhenhua verfasserin (orcid)0000-0003-2831-9606 aut Yan, Yunda verfasserin (orcid)0000-0002-2839-6778 aut Enthalten in Franklin Institute$gPhiladelphia, Pa. ; ID: gnd/38821-X Journal of the Franklin Institute Amsterdam [u.a.] : Elsevier Science, 1829 359, Seite 7847-7865 Online-Ressource (DE-627)320464954 (DE-600)2007754-3 (DE-576)259484628 1879-2693 nnns volume:359 pages:7847-7865 GBV_USEFLAG_U SYSFLAG_U GBV_ELV SSG-OPC-MAT GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 31.80 Angewandte Mathematik AR 359 7847-7865
allfieldsGer	10.1016/j.jfranklin.2022.08.020 doi (DE-627)ELV008482276 (ELSEVIER)S0016-0032(22)00571-3 DE-627 ger DE-627 rda eng 510 DE-600 31.80 bkl Wang, Huiming verfasserin (orcid)0000-0003-3109-0195 aut Continuous output feedback sliding mode control for underactuated flexible-joint robot 2022 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier The tracking control based on output feedback for a category of flexible-joint robot (FJR) systems is investigated in this brief. Control performance of the systems is inevitably bearing the brunt of various unknown time-varying disturbances, which can be categorized to be matched and mismatched and generally cover internal parameter uncertainties, couplings, unmodelled dynamics, and external load or changing operating environments. To cope with these disturbances, the mismatched disturbances are first transferred to the matched ones by a flatness method, which eliminates the computational cost of estimating mismatched disturbances. Then, a generalized proportional integral observer (GPIO) is constructed to estimate the unavailable states and disturbances. By integrating the estimated disturbance and states provided by the GPIO, a novel dynamic sliding surface is constructed. Finally, a continuous sliding mode control (CSMC)-based output feedback control framework is further designed. The presented control strategy only requires link position information and is continuous, which can effectively reduce the chattering driven by the high-frequency switching item in the traditional SMC method. Asymptotic convergence of output tracking error is guaranteed by theoretical analysis under some mild conditions. Comparative tests on a two-link FJR verify the claimed control performance. Zhang, Zhize verfasserin (orcid)0000-0002-0867-0936 aut Tang, Xianlun verfasserin aut Zhao, Zhenhua verfasserin (orcid)0000-0003-2831-9606 aut Yan, Yunda verfasserin (orcid)0000-0002-2839-6778 aut Enthalten in Franklin Institute$gPhiladelphia, Pa. ; ID: gnd/38821-X Journal of the Franklin Institute Amsterdam [u.a.] : Elsevier Science, 1829 359, Seite 7847-7865 Online-Ressource (DE-627)320464954 (DE-600)2007754-3 (DE-576)259484628 1879-2693 nnns volume:359 pages:7847-7865 GBV_USEFLAG_U SYSFLAG_U GBV_ELV SSG-OPC-MAT GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 31.80 Angewandte Mathematik AR 359 7847-7865
allfieldsSound	10.1016/j.jfranklin.2022.08.020 doi (DE-627)ELV008482276 (ELSEVIER)S0016-0032(22)00571-3 DE-627 ger DE-627 rda eng 510 DE-600 31.80 bkl Wang, Huiming verfasserin (orcid)0000-0003-3109-0195 aut Continuous output feedback sliding mode control for underactuated flexible-joint robot 2022 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier The tracking control based on output feedback for a category of flexible-joint robot (FJR) systems is investigated in this brief. Control performance of the systems is inevitably bearing the brunt of various unknown time-varying disturbances, which can be categorized to be matched and mismatched and generally cover internal parameter uncertainties, couplings, unmodelled dynamics, and external load or changing operating environments. To cope with these disturbances, the mismatched disturbances are first transferred to the matched ones by a flatness method, which eliminates the computational cost of estimating mismatched disturbances. Then, a generalized proportional integral observer (GPIO) is constructed to estimate the unavailable states and disturbances. By integrating the estimated disturbance and states provided by the GPIO, a novel dynamic sliding surface is constructed. Finally, a continuous sliding mode control (CSMC)-based output feedback control framework is further designed. The presented control strategy only requires link position information and is continuous, which can effectively reduce the chattering driven by the high-frequency switching item in the traditional SMC method. Asymptotic convergence of output tracking error is guaranteed by theoretical analysis under some mild conditions. Comparative tests on a two-link FJR verify the claimed control performance. Zhang, Zhize verfasserin (orcid)0000-0002-0867-0936 aut Tang, Xianlun verfasserin aut Zhao, Zhenhua verfasserin (orcid)0000-0003-2831-9606 aut Yan, Yunda verfasserin (orcid)0000-0002-2839-6778 aut Enthalten in Franklin Institute$gPhiladelphia, Pa. ; ID: gnd/38821-X Journal of the Franklin Institute Amsterdam [u.a.] : Elsevier Science, 1829 359, Seite 7847-7865 Online-Ressource (DE-627)320464954 (DE-600)2007754-3 (DE-576)259484628 1879-2693 nnns volume:359 pages:7847-7865 GBV_USEFLAG_U SYSFLAG_U GBV_ELV SSG-OPC-MAT GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 31.80 Angewandte Mathematik AR 359 7847-7865
language	English
source	Enthalten in Journal of the Franklin Institute 359, Seite 7847-7865 volume:359 pages:7847-7865
sourceStr	Enthalten in Journal of the Franklin Institute 359, Seite 7847-7865 volume:359 pages:7847-7865
format_phy_str_mv	Article
bklname	Angewandte Mathematik
institution	findex.gbv.de
dewey-raw	510
isfreeaccess_bool	false
container_title	Journal of the Franklin Institute
authorswithroles_txt_mv	Wang, Huiming @@aut@@ Zhang, Zhize @@aut@@ Tang, Xianlun @@aut@@ Zhao, Zhenhua @@aut@@ Yan, Yunda @@aut@@
publishDateDaySort_date	2022-01-01T00:00:00Z
hierarchy_top_id	320464954
dewey-sort	3510
id	ELV008482276
language_de	englisch
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author	Wang, Huiming
spellingShingle	Wang, Huiming ddc 510 bkl 31.80 Continuous output feedback sliding mode control for underactuated flexible-joint robot
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topic_title	510 DE-600 31.80 bkl Continuous output feedback sliding mode control for underactuated flexible-joint robot
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title	Continuous output feedback sliding mode control for underactuated flexible-joint robot
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title_full	Continuous output feedback sliding mode control for underactuated flexible-joint robot
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title_sort	continuous output feedback sliding mode control for underactuated flexible-joint robot
title_auth	Continuous output feedback sliding mode control for underactuated flexible-joint robot
abstract	The tracking control based on output feedback for a category of flexible-joint robot (FJR) systems is investigated in this brief. Control performance of the systems is inevitably bearing the brunt of various unknown time-varying disturbances, which can be categorized to be matched and mismatched and generally cover internal parameter uncertainties, couplings, unmodelled dynamics, and external load or changing operating environments. To cope with these disturbances, the mismatched disturbances are first transferred to the matched ones by a flatness method, which eliminates the computational cost of estimating mismatched disturbances. Then, a generalized proportional integral observer (GPIO) is constructed to estimate the unavailable states and disturbances. By integrating the estimated disturbance and states provided by the GPIO, a novel dynamic sliding surface is constructed. Finally, a continuous sliding mode control (CSMC)-based output feedback control framework is further designed. The presented control strategy only requires link position information and is continuous, which can effectively reduce the chattering driven by the high-frequency switching item in the traditional SMC method. Asymptotic convergence of output tracking error is guaranteed by theoretical analysis under some mild conditions. Comparative tests on a two-link FJR verify the claimed control performance.
abstractGer	The tracking control based on output feedback for a category of flexible-joint robot (FJR) systems is investigated in this brief. Control performance of the systems is inevitably bearing the brunt of various unknown time-varying disturbances, which can be categorized to be matched and mismatched and generally cover internal parameter uncertainties, couplings, unmodelled dynamics, and external load or changing operating environments. To cope with these disturbances, the mismatched disturbances are first transferred to the matched ones by a flatness method, which eliminates the computational cost of estimating mismatched disturbances. Then, a generalized proportional integral observer (GPIO) is constructed to estimate the unavailable states and disturbances. By integrating the estimated disturbance and states provided by the GPIO, a novel dynamic sliding surface is constructed. Finally, a continuous sliding mode control (CSMC)-based output feedback control framework is further designed. The presented control strategy only requires link position information and is continuous, which can effectively reduce the chattering driven by the high-frequency switching item in the traditional SMC method. Asymptotic convergence of output tracking error is guaranteed by theoretical analysis under some mild conditions. Comparative tests on a two-link FJR verify the claimed control performance.
abstract_unstemmed	The tracking control based on output feedback for a category of flexible-joint robot (FJR) systems is investigated in this brief. Control performance of the systems is inevitably bearing the brunt of various unknown time-varying disturbances, which can be categorized to be matched and mismatched and generally cover internal parameter uncertainties, couplings, unmodelled dynamics, and external load or changing operating environments. To cope with these disturbances, the mismatched disturbances are first transferred to the matched ones by a flatness method, which eliminates the computational cost of estimating mismatched disturbances. Then, a generalized proportional integral observer (GPIO) is constructed to estimate the unavailable states and disturbances. By integrating the estimated disturbance and states provided by the GPIO, a novel dynamic sliding surface is constructed. Finally, a continuous sliding mode control (CSMC)-based output feedback control framework is further designed. The presented control strategy only requires link position information and is continuous, which can effectively reduce the chattering driven by the high-frequency switching item in the traditional SMC method. Asymptotic convergence of output tracking error is guaranteed by theoretical analysis under some mild conditions. Comparative tests on a two-link FJR verify the claimed control performance.
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title_short	Continuous output feedback sliding mode control for underactuated flexible-joint robot
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author2	Zhang, Zhize Tang, Xianlun Zhao, Zhenhua Yan, Yunda
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up_date	2024-07-06T19:51:03.697Z
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Continuous output feedback sliding mode control for underactuated flexible-joint robot

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