Fuzzy adaptive sliding mode control of PMSM based on extended state observer

2020 ◽  
Vol 63 (3) ◽  
pp. 391-407 ◽  
Author(s):  
Wang Yao ◽  
Yu Hai Tao ◽  
Guo Rong ◽  
Li Dong Yang ◽  
Feng Ningjun ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
State Observer ◽  
Extended State Observer ◽  
Adaptive Sliding Mode Control ◽  
Extended State ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Fuzzy Adaptive

scholarly journals An extended state observer-based full-order sliding mode control for robotic joint actuated by antagonistic pneumatic artificial muscles

2021 ◽  
Vol 18 (1) ◽  
pp. 172988142098603
Author(s):  
Daoxiong Gong ◽  
Mengyao Pei ◽  
Rui He ◽  
Jianjun Yu
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
State Observer ◽  
Extended State Observer ◽  
Artificial Muscles ◽  
Extended State ◽  
Robot System ◽  
Mode Control ◽  
Physical Experiments ◽  
Pneumatic Artificial Muscles

Pneumatic artificial muscles (PAMs) are expected to play an important role in endowing the advanced robot with the compliant manipulation, which is very important for a robot to coexist and cooperate with humans. However, the strong nonlinear characteristics of PAMs hinder its wide application in robots, and therefore, advanced control algorithms are urgently needed for making the best use of the advantages and bypassing the disadvantages of PAMs. In this article, we propose a full-order sliding mode control extended state observer (fSMC-ESO) algorithm that combines the ESO and the fSMC for a robotic joint actuated by a pair of antagonistic PAMs. The fSMC is employed to eliminate the chattering and to guarantee the finite-time convergence, and the ESO is adopted to observe both the total disturbance and the states of the robot system, so that we can inhibit the disturbance and compensate the nonlinearity efficiently. Both simulations and physical experiments are conducted to validate the proposed method. We suggest that the proposed method can be applied to the robotic systems actuated by PAMs and remarkably improve the performance of the robot system.

Fuzzy adaptive sliding mode control of a direct drive robot

1996 ◽  
Vol 19 (2) ◽  
pp. 215-227 ◽  
Author(s):  
Kemalettin Erbatur ◽  
Okyay Kaynak ◽  
Asif Sabanovic ◽  
Imre Rudas
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Direct Drive ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Fuzzy Adaptive

Series sliding mode control for gun control system based on extended state observer

2011 ◽  
Vol 19 (10) ◽  
pp. 2409-2418
Author(s):  
马晓军 MA Xiao-jun ◽  
袁东 YUAN Dong ◽  
李匡成 LI Kuang-cheng ◽  
魏曙光 WEI Shu-guang
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
State Observer ◽  
Gun Control ◽  
Extended State Observer ◽  
Extended State ◽  
Mode Control
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