Sliding mode control based on high-order extended state observer for flexible joint robot under time-varying disturbance

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Title

Sliding mode control based on high-order extended state observer for flexible joint robot under time-varying disturbance

Content partner

The University of Auckland Library

Collection

ResearchSpace@Auckland

Description

In this paper, a high order extended state observer (HOESO) based a sliding mode control (SMC) is proposed for a flexible joint robot (FJR) system in the presence of time varying external disturbance. A composite controller is integrated the merits of both HOESO and SMC to enhance the tracking performance of FJR system under the time varying and fast lumped disturbance. First, the HOESO estimator is constructed based on only one measured state to precisely estimate unknown system states and l...

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Format

Research paper

Research format

Conference item

Date created

2023-03-27

Creator

Rsetam, Kamal / Al-Rawi, Mohammad / Cao, Zhenwei / Man, Zhihong

URL

https://hdl.handle.net/2292/67363

Related subjects

4007 Control Engineering, Mechatronics and Robotics / 40 Engineering / 4001 Aerospace Engineering

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