Backstepping integral sliding mode control for pneumatic manipulators via adaptive extended state observers

Ling Zhao*, Zhuojun Li, Hongbo Li, Bo Liu

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

1 Scopus citations

Abstract

In this paper, a nonlinear control strategy is proposed for a pneumatic manipulator based on an adaptive extended state observer and a backstepping integral sliding mode controller. A single degree of freedom dynamic model is established for the pneumatic manipulator using an Euler–Lagrange dynamic equation. The adaptive extended state observer is designed by an adaptive law to estimate uncertainties and disturbances. The backstepping integral sliding mode controller is proposed using an integral sliding mode surface based on backstepping technique. Comparative experiments verify effectiveness of the proposed nonlinear control strategy for the pneumatic manipulator.

Original languageEnglish
Pages (from-to)374-384
Number of pages11
JournalISA Transactions
Volume144
DOIs
StatePublished - Jan 2024

Bibliographical note

Publisher Copyright:
© 2023

Keywords

  • Adaptive extended state observer
  • Backstepping technique
  • Integral sliding mode control
  • Pneumatic manipulator

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Instrumentation
  • Computer Science Applications
  • Electrical and Electronic Engineering
  • Applied Mathematics

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