Trajectory Tracking Control of a One Degree of Freedom Manipulator Based on a Switched Sliding Mode Controller with a Novel Extended State Observer Framework

Ling Zhao; Qi Li; Bo Liu; Haiyan Cheng

doi:10.1109/TSMC.2017.2719057

Trajectory Tracking Control of a One Degree of Freedom Manipulator Based on a Switched Sliding Mode Controller with a Novel Extended State Observer Framework

Ling Zhao^*, Qi Li, Bo Liu, Haiyan Cheng

^*Corresponding author for this work

Department of Electrical Engineering

Research output: Contribution to journal › Article › peer-review

79 Scopus citations

Abstract

This paper considers trajectory tracking control for a one-degree of freedom (DoF) manipulator system driven by pneumatic artificial muscles. A switched sliding mode controller is accordingly designed. In the proposed scheme, a novel extended state observer based on a generalized super-twisting algorithm is first designed to deal with internal uncertainties and external disturbances in the one-DoF manipulator system. Second, the finite time convergence of the closed-loop system with the proposed sliding mode technique is analyzed. Lastly, some experimental results are presented to show the validity and advantages of the proposed approach.

Original language	English
Article number	7982640
Pages (from-to)	1110-1118
Number of pages	9
Journal	IEEE Transactions on Systems, Man, and Cybernetics: Systems
Volume	49
Issue number	6
DOIs	https://doi.org/10.1109/TSMC.2017.2719057
State	Published - Jun 2019

Bibliographical note

Publisher Copyright:
© 2013 IEEE.

Keywords

Extended state observer (ESO)
finite time convergence
sliding mode
super-twisting algorithm
trajectory tracking

ASJC Scopus subject areas

Software
Control and Systems Engineering
Human-Computer Interaction
Computer Science Applications
Electrical and Electronic Engineering

Access to Document

10.1109/TSMC.2017.2719057

Cite this

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title = "Trajectory Tracking Control of a One Degree of Freedom Manipulator Based on a Switched Sliding Mode Controller with a Novel Extended State Observer Framework",

abstract = "This paper considers trajectory tracking control for a one-degree of freedom (DoF) manipulator system driven by pneumatic artificial muscles. A switched sliding mode controller is accordingly designed. In the proposed scheme, a novel extended state observer based on a generalized super-twisting algorithm is first designed to deal with internal uncertainties and external disturbances in the one-DoF manipulator system. Second, the finite time convergence of the closed-loop system with the proposed sliding mode technique is analyzed. Lastly, some experimental results are presented to show the validity and advantages of the proposed approach.",

keywords = "Extended state observer (ESO), finite time convergence, sliding mode, super-twisting algorithm, trajectory tracking",

author = "Ling Zhao and Qi Li and Bo Liu and Haiyan Cheng",

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year = "2019",

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doi = "10.1109/TSMC.2017.2719057",

language = "English",

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Trajectory Tracking Control of a One Degree of Freedom Manipulator Based on a Switched Sliding Mode Controller with a Novel Extended State Observer Framework. / Zhao, Ling; Li, Qi; Liu, Bo et al.
In: IEEE Transactions on Systems, Man, and Cybernetics: Systems, Vol. 49, No. 6, 7982640, 06.2019, p. 1110-1118.

Research output: Contribution to journal › Article › peer-review

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AU - Liu, Bo

AU - Cheng, Haiyan

PY - 2019/6

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N2 - This paper considers trajectory tracking control for a one-degree of freedom (DoF) manipulator system driven by pneumatic artificial muscles. A switched sliding mode controller is accordingly designed. In the proposed scheme, a novel extended state observer based on a generalized super-twisting algorithm is first designed to deal with internal uncertainties and external disturbances in the one-DoF manipulator system. Second, the finite time convergence of the closed-loop system with the proposed sliding mode technique is analyzed. Lastly, some experimental results are presented to show the validity and advantages of the proposed approach.

AB - This paper considers trajectory tracking control for a one-degree of freedom (DoF) manipulator system driven by pneumatic artificial muscles. A switched sliding mode controller is accordingly designed. In the proposed scheme, a novel extended state observer based on a generalized super-twisting algorithm is first designed to deal with internal uncertainties and external disturbances in the one-DoF manipulator system. Second, the finite time convergence of the closed-loop system with the proposed sliding mode technique is analyzed. Lastly, some experimental results are presented to show the validity and advantages of the proposed approach.

KW - Extended state observer (ESO)

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KW - super-twisting algorithm

KW - trajectory tracking

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Trajectory Tracking Control of a One Degree of Freedom Manipulator Based on a Switched Sliding Mode Controller with a Novel Extended State Observer Framework

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

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