Active disturbance rejection sliding mode control for robot manipulation

نویسندگان
چکیده

برای دانلود رایگان متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Active disturbance rejection control and sliding mode control of one-dimensional unstable heat equation with boundary uncertainties

In this paper, we are concerned with the boundary stabilization of a one-dimensional unstable heat equation with the external disturbance flowing into the control end. The active disturbance rejection control (ADRC) and the sliding mode control (SMC) are adopted in investigation. By the ADRC approach, the disturbance is estimated through an external observer and cancelled online by the approxim...

متن کامل

Sliding Mode Control for Nonholonomic Mobile Robot

Abstract A new control scheme is presented for nonholonomic mobile robots. The main idea of this paper is to consider the natural algebraic structure of the chained form system together with ideas from sliding mode theory while designing the control law. At first, the system model is converted into a single-input time-varying linear system by setting one input as a time-varying function. We des...

متن کامل

Robust Sliding Mode Controller for Trajectory Tracking and Attitude Control of a Nonholonomic Spherical Mobile Robot

Based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. In this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representatio...

متن کامل

Voltage Control of Three Phase Inverters by Using Active Disturbance Rejection Control

Control of three phase inverters has been an important issue in recent years. This paper proposes active disturbance rejection control (ADRC) scheme for controlling three phase inverters. The main advantage of ADRC that motivated us for using this controller for inverter is that it is model independent.  This controller is used in a double loop structure including an inner current loop and oute...

متن کامل

Sliding mode control and active disturbance rejection control to the stabilization of one-dimensional Schrödinger equation subject to boundary control matched disturbance

In this paper, we are concerned with the boundary stabilization of a one-dimensional anti-stable Schrödinger equation subject to boundary control matched disturbance. We apply both the sliding mode control (SMC) and the active disturbance rejection control (ADRC) to deal with the disturbance. By the SMC approach, the disturbance is supposed to be bounded only. The existence and uniqueness of th...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: Journal of Intelligent Manufacturing and Special Equipment

سال: 2020

ISSN: 2633-6596,2633-660X

DOI: 10.1108/jimse-06-2020-0004