scholarly journals Disturbance Observer-Based Terminal Sliding Mode Control of a 5-DOF Upper-Limb Exoskeleton Robot

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 62833-62839 ◽  
Author(s):  
Peng Yang ◽  
Xiao Ma ◽  
Jie Wang ◽  
Gaowei Zhang ◽  
Yan Zhang ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Upper Limb ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Upper Limb Exoskeleton ◽  
Exoskeleton Robot

Novel Adaptive Reaching Law for Sliding Mode Control of an Upper Limb Exoskeleton Robot*

2020 ◽  
Author(s):  
Brahim Brahmi ◽  
Khaled El-Monajjed ◽  
Mohammad Habibur Rahman ◽  
Tanvir Ahmed ◽  
Claude El-Bayeh ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Upper Limb ◽  
Sliding Mode ◽  
Reaching Law ◽  
Mode Control ◽  
Upper Limb Exoskeleton ◽  
Exoskeleton Robot

scholarly journals Design of Composite Disturbance Observer and Continuous Terminal Sliding Mode Control for Piezoelectric Nanopositioning Stage

Electronics ◽  
2021 ◽  
Vol 10 (18) ◽  
pp. 2242
Author(s):  
Pengyu Qiao ◽  
Jun Yang ◽  
Chen Dai ◽  
Xi Xiao
Keyword(s):  
Sliding Mode Control ◽  
Control Strategy ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Accurate Estimation ◽  
Terminal Sliding Mode Control ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Composite Control ◽  
Mode Control

The nonlinearities of piezoelectric actuators and external disturbances of the piezoelectric nanopositioning stage impose great, undesirable influences on the positioning accuracy of nanopositioning stage systems. This paper considers nonlinearities and external disturbances as a lumped disturbance and designs a composite control strategy for the piezoelectric nanopositioning stage to realize ultra-high precision motion control. The proposed strategy contains a composite disturbance observer and a continuous terminal sliding mode controller. The composite disturbance observer can estimate both periodic and aperiodic disturbances so that the composite control strategy can deal with the disturbances with high accuracy. Meanwhile, the continuous terminal sliding mode control is employed to eliminate the chattering phenomenon and speed up the convergence rate. The simulation and experiment results show that the composite control strategy achieves accurate estimation of different forms of disturbances and excellent tracking performance.

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