文章基本信息

标题：Terminal Sliding Mode Control with Sliding Perturbation Observer for a Hydraulic Robot Manipulator
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作者：Wang Jie ; Hyun-Hee Kim ; Karam Dad 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：22
页码：7-12
DOI：10.1016/j.ifacol.2018.11.510
语种：English
出版社：Elsevier
摘要：AbstractA new design approach of sliding mode control with terminal sliding mode and sliding perturbation observer for a hydraulic robot manipulator is described in this paper. A sliding perturbation observer can observe the unknown states and disturbance. The estimated states and perturbation are used in sliding mode for more accuracy tracking. However, it occurs some time delay when use the combined controller. Terminal sliding surface can drive the system tracking error to origin with as faster speed than conventional one. Thus, terminal sliding mode control with sliding perturbation observer is designed with both fast convergence speed and high precision. In this paper, the experiment result demonstrate that.
关键词：KeywordsSliding mode controlSliding perturbation observerHydraulic systemTerminal Sliding modeRobot manipulator