Finite-time trajectory tracking control for a two degrees of freedom pneumatic dexterous finger
Abstract In this paper, a finite-time sliding mode control scheme is proposed to realize the trajectory tracking control for a two degrees of freedom (DOFs) pneumatic dexterous finger. A nonlinear extended state observer (NESO) is designed to estimate model uncertainties and external disturbances. A...
Ausführliche Beschreibung
Autor*in: |
Zhao, Ling [verfasserIn] |
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Format: |
E-Artikel |
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Sprache: |
Englisch |
Erschienen: |
2023 |
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Schlagwörter: |
Finite-time sliding mode control Nonlinear extended state observer |
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Anmerkung: |
© The Author(s), under exclusive licence to The Brazilian Society of Mechanical Sciences and Engineering 2023. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. |
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Übergeordnetes Werk: |
Enthalten in: Journal of the Brazilian Society of Mechanical Sciences and Engineering - Berlin : Springer, 2003, 45(2023), 3 vom: 17. Feb. |
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Übergeordnetes Werk: |
volume:45 ; year:2023 ; number:3 ; day:17 ; month:02 |
Links: |
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DOI / URN: |
10.1007/s40430-023-04047-7 |
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Katalog-ID: |
SPR049583026 |
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520 | |a Abstract In this paper, a finite-time sliding mode control scheme is proposed to realize the trajectory tracking control for a two degrees of freedom (DOFs) pneumatic dexterous finger. A nonlinear extended state observer (NESO) is designed to estimate model uncertainties and external disturbances. A nonsingular finite-time sliding mode controller (NFTSMC) is proposed to achieve fast tracking. Furthermore, stability analyses are shown on both the NESO and the NFTSMC based on Lyapunov methods. Finally, a series of trajectory tracking experiments are carried on a two DOFs pneumatic dexterous finger platform to demonstrate the effectiveness of the proposed finite-time sliding mode control scheme. | ||
650 | 4 | |a Finite-time sliding mode control |7 (dpeaa)DE-He213 | |
650 | 4 | |a Nonlinear extended state observer |7 (dpeaa)DE-He213 | |
650 | 4 | |a Pneumatic artificial muscle (PAM) |7 (dpeaa)DE-He213 | |
650 | 4 | |a Trajectory tracking |7 (dpeaa)DE-He213 | |
700 | 1 | |a Peng, Meiqin |4 aut | |
700 | 1 | |a Cao, Xinyue |4 aut | |
700 | 1 | |a Li, Zhuojun |4 aut | |
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10.1007/s40430-023-04047-7 doi (DE-627)SPR049583026 (SPR)s40430-023-04047-7-e DE-627 ger DE-627 rakwb eng Zhao, Ling verfasserin aut Finite-time trajectory tracking control for a two degrees of freedom pneumatic dexterous finger 2023 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s), under exclusive licence to The Brazilian Society of Mechanical Sciences and Engineering 2023. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. Abstract In this paper, a finite-time sliding mode control scheme is proposed to realize the trajectory tracking control for a two degrees of freedom (DOFs) pneumatic dexterous finger. A nonlinear extended state observer (NESO) is designed to estimate model uncertainties and external disturbances. A nonsingular finite-time sliding mode controller (NFTSMC) is proposed to achieve fast tracking. Furthermore, stability analyses are shown on both the NESO and the NFTSMC based on Lyapunov methods. Finally, a series of trajectory tracking experiments are carried on a two DOFs pneumatic dexterous finger platform to demonstrate the effectiveness of the proposed finite-time sliding mode control scheme. Finite-time sliding mode control (dpeaa)DE-He213 Nonlinear extended state observer (dpeaa)DE-He213 Pneumatic artificial muscle (PAM) (dpeaa)DE-He213 Trajectory tracking (dpeaa)DE-He213 Peng, Meiqin aut Cao, Xinyue aut Li, Zhuojun aut Enthalten in Journal of the Brazilian Society of Mechanical Sciences and Engineering Berlin : Springer, 2003 45(2023), 3 vom: 17. Feb. (DE-627)387477950 (DE-600)2145288-X 1806-3691 nnns volume:45 year:2023 number:3 day:17 month:02 https://dx.doi.org/10.1007/s40430-023-04047-7 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 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_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 45 2023 3 17 02 |
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10.1007/s40430-023-04047-7 doi (DE-627)SPR049583026 (SPR)s40430-023-04047-7-e DE-627 ger DE-627 rakwb eng Zhao, Ling verfasserin aut Finite-time trajectory tracking control for a two degrees of freedom pneumatic dexterous finger 2023 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s), under exclusive licence to The Brazilian Society of Mechanical Sciences and Engineering 2023. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. Abstract In this paper, a finite-time sliding mode control scheme is proposed to realize the trajectory tracking control for a two degrees of freedom (DOFs) pneumatic dexterous finger. A nonlinear extended state observer (NESO) is designed to estimate model uncertainties and external disturbances. A nonsingular finite-time sliding mode controller (NFTSMC) is proposed to achieve fast tracking. Furthermore, stability analyses are shown on both the NESO and the NFTSMC based on Lyapunov methods. Finally, a series of trajectory tracking experiments are carried on a two DOFs pneumatic dexterous finger platform to demonstrate the effectiveness of the proposed finite-time sliding mode control scheme. Finite-time sliding mode control (dpeaa)DE-He213 Nonlinear extended state observer (dpeaa)DE-He213 Pneumatic artificial muscle (PAM) (dpeaa)DE-He213 Trajectory tracking (dpeaa)DE-He213 Peng, Meiqin aut Cao, Xinyue aut Li, Zhuojun aut Enthalten in Journal of the Brazilian Society of Mechanical Sciences and Engineering Berlin : Springer, 2003 45(2023), 3 vom: 17. Feb. (DE-627)387477950 (DE-600)2145288-X 1806-3691 nnns volume:45 year:2023 number:3 day:17 month:02 https://dx.doi.org/10.1007/s40430-023-04047-7 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 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_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 45 2023 3 17 02 |
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10.1007/s40430-023-04047-7 doi (DE-627)SPR049583026 (SPR)s40430-023-04047-7-e DE-627 ger DE-627 rakwb eng Zhao, Ling verfasserin aut Finite-time trajectory tracking control for a two degrees of freedom pneumatic dexterous finger 2023 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s), under exclusive licence to The Brazilian Society of Mechanical Sciences and Engineering 2023. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. Abstract In this paper, a finite-time sliding mode control scheme is proposed to realize the trajectory tracking control for a two degrees of freedom (DOFs) pneumatic dexterous finger. A nonlinear extended state observer (NESO) is designed to estimate model uncertainties and external disturbances. A nonsingular finite-time sliding mode controller (NFTSMC) is proposed to achieve fast tracking. Furthermore, stability analyses are shown on both the NESO and the NFTSMC based on Lyapunov methods. Finally, a series of trajectory tracking experiments are carried on a two DOFs pneumatic dexterous finger platform to demonstrate the effectiveness of the proposed finite-time sliding mode control scheme. Finite-time sliding mode control (dpeaa)DE-He213 Nonlinear extended state observer (dpeaa)DE-He213 Pneumatic artificial muscle (PAM) (dpeaa)DE-He213 Trajectory tracking (dpeaa)DE-He213 Peng, Meiqin aut Cao, Xinyue aut Li, Zhuojun aut Enthalten in Journal of the Brazilian Society of Mechanical Sciences and Engineering Berlin : Springer, 2003 45(2023), 3 vom: 17. Feb. (DE-627)387477950 (DE-600)2145288-X 1806-3691 nnns volume:45 year:2023 number:3 day:17 month:02 https://dx.doi.org/10.1007/s40430-023-04047-7 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 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_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 45 2023 3 17 02 |
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10.1007/s40430-023-04047-7 doi (DE-627)SPR049583026 (SPR)s40430-023-04047-7-e DE-627 ger DE-627 rakwb eng Zhao, Ling verfasserin aut Finite-time trajectory tracking control for a two degrees of freedom pneumatic dexterous finger 2023 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s), under exclusive licence to The Brazilian Society of Mechanical Sciences and Engineering 2023. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. Abstract In this paper, a finite-time sliding mode control scheme is proposed to realize the trajectory tracking control for a two degrees of freedom (DOFs) pneumatic dexterous finger. A nonlinear extended state observer (NESO) is designed to estimate model uncertainties and external disturbances. A nonsingular finite-time sliding mode controller (NFTSMC) is proposed to achieve fast tracking. Furthermore, stability analyses are shown on both the NESO and the NFTSMC based on Lyapunov methods. Finally, a series of trajectory tracking experiments are carried on a two DOFs pneumatic dexterous finger platform to demonstrate the effectiveness of the proposed finite-time sliding mode control scheme. Finite-time sliding mode control (dpeaa)DE-He213 Nonlinear extended state observer (dpeaa)DE-He213 Pneumatic artificial muscle (PAM) (dpeaa)DE-He213 Trajectory tracking (dpeaa)DE-He213 Peng, Meiqin aut Cao, Xinyue aut Li, Zhuojun aut Enthalten in Journal of the Brazilian Society of Mechanical Sciences and Engineering Berlin : Springer, 2003 45(2023), 3 vom: 17. Feb. (DE-627)387477950 (DE-600)2145288-X 1806-3691 nnns volume:45 year:2023 number:3 day:17 month:02 https://dx.doi.org/10.1007/s40430-023-04047-7 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 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_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 45 2023 3 17 02 |
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10.1007/s40430-023-04047-7 doi (DE-627)SPR049583026 (SPR)s40430-023-04047-7-e DE-627 ger DE-627 rakwb eng Zhao, Ling verfasserin aut Finite-time trajectory tracking control for a two degrees of freedom pneumatic dexterous finger 2023 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s), under exclusive licence to The Brazilian Society of Mechanical Sciences and Engineering 2023. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. Abstract In this paper, a finite-time sliding mode control scheme is proposed to realize the trajectory tracking control for a two degrees of freedom (DOFs) pneumatic dexterous finger. A nonlinear extended state observer (NESO) is designed to estimate model uncertainties and external disturbances. A nonsingular finite-time sliding mode controller (NFTSMC) is proposed to achieve fast tracking. Furthermore, stability analyses are shown on both the NESO and the NFTSMC based on Lyapunov methods. Finally, a series of trajectory tracking experiments are carried on a two DOFs pneumatic dexterous finger platform to demonstrate the effectiveness of the proposed finite-time sliding mode control scheme. Finite-time sliding mode control (dpeaa)DE-He213 Nonlinear extended state observer (dpeaa)DE-He213 Pneumatic artificial muscle (PAM) (dpeaa)DE-He213 Trajectory tracking (dpeaa)DE-He213 Peng, Meiqin aut Cao, Xinyue aut Li, Zhuojun aut Enthalten in Journal of the Brazilian Society of Mechanical Sciences and Engineering Berlin : Springer, 2003 45(2023), 3 vom: 17. Feb. (DE-627)387477950 (DE-600)2145288-X 1806-3691 nnns volume:45 year:2023 number:3 day:17 month:02 https://dx.doi.org/10.1007/s40430-023-04047-7 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 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_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 45 2023 3 17 02 |
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Zhao, Ling |
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Zhao, Ling misc Finite-time sliding mode control misc Nonlinear extended state observer misc Pneumatic artificial muscle (PAM) misc Trajectory tracking Finite-time trajectory tracking control for a two degrees of freedom pneumatic dexterous finger |
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Finite-time trajectory tracking control for a two degrees of freedom pneumatic dexterous finger Finite-time sliding mode control (dpeaa)DE-He213 Nonlinear extended state observer (dpeaa)DE-He213 Pneumatic artificial muscle (PAM) (dpeaa)DE-He213 Trajectory tracking (dpeaa)DE-He213 |
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finite-time trajectory tracking control for a two degrees of freedom pneumatic dexterous finger |
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Finite-time trajectory tracking control for a two degrees of freedom pneumatic dexterous finger |
abstract |
Abstract In this paper, a finite-time sliding mode control scheme is proposed to realize the trajectory tracking control for a two degrees of freedom (DOFs) pneumatic dexterous finger. A nonlinear extended state observer (NESO) is designed to estimate model uncertainties and external disturbances. A nonsingular finite-time sliding mode controller (NFTSMC) is proposed to achieve fast tracking. Furthermore, stability analyses are shown on both the NESO and the NFTSMC based on Lyapunov methods. Finally, a series of trajectory tracking experiments are carried on a two DOFs pneumatic dexterous finger platform to demonstrate the effectiveness of the proposed finite-time sliding mode control scheme. © The Author(s), under exclusive licence to The Brazilian Society of Mechanical Sciences and Engineering 2023. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. |
abstractGer |
Abstract In this paper, a finite-time sliding mode control scheme is proposed to realize the trajectory tracking control for a two degrees of freedom (DOFs) pneumatic dexterous finger. A nonlinear extended state observer (NESO) is designed to estimate model uncertainties and external disturbances. A nonsingular finite-time sliding mode controller (NFTSMC) is proposed to achieve fast tracking. Furthermore, stability analyses are shown on both the NESO and the NFTSMC based on Lyapunov methods. Finally, a series of trajectory tracking experiments are carried on a two DOFs pneumatic dexterous finger platform to demonstrate the effectiveness of the proposed finite-time sliding mode control scheme. © The Author(s), under exclusive licence to The Brazilian Society of Mechanical Sciences and Engineering 2023. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. |
abstract_unstemmed |
Abstract In this paper, a finite-time sliding mode control scheme is proposed to realize the trajectory tracking control for a two degrees of freedom (DOFs) pneumatic dexterous finger. A nonlinear extended state observer (NESO) is designed to estimate model uncertainties and external disturbances. A nonsingular finite-time sliding mode controller (NFTSMC) is proposed to achieve fast tracking. Furthermore, stability analyses are shown on both the NESO and the NFTSMC based on Lyapunov methods. Finally, a series of trajectory tracking experiments are carried on a two DOFs pneumatic dexterous finger platform to demonstrate the effectiveness of the proposed finite-time sliding mode control scheme. © The Author(s), under exclusive licence to The Brazilian Society of Mechanical Sciences and Engineering 2023. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. |
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title_short |
Finite-time trajectory tracking control for a two degrees of freedom pneumatic dexterous finger |
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https://dx.doi.org/10.1007/s40430-023-04047-7 |
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Peng, Meiqin Cao, Xinyue Li, Zhuojun |
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Peng, Meiqin Cao, Xinyue Li, Zhuojun |
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10.1007/s40430-023-04047-7 |
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2024-07-04T01:25:08.555Z |
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