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Adaptive Sliding Mode Disturbance Observer Based Robust Control for Robot Manipulators Towards Assembly Assistance
Xi, Rui Dong1; Xiao, Xiao2; Ma, Tie Nan1; Yang, Zhi Xin1
2022-07-01
Source PublicationIEEE Robotics and Automation Letters
Volume7Issue:3Pages:6139-6146
Abstract

Parameter uncertainties and fluctuated disturbances have brought great difficulties to the smooth and precise control of robot manipulators in some industrial environments. To address these challenges, a robust adaptive sliding mode controller is proposed in this work for accurate control of the robot manipulator. In case of the modeling uncertainties caused by parameters variation during the operational process, the adaptive technique integrated with radial basis function neural networks is utilized. Under such scheme the parameters are automatically adjusted during the tracking process to enhance the system robustness. A new sliding mode disturbance observer is adopted in order to give compensation of the interference and a new variable structure scheme is proposed to effectively suppress the chattering phenomenon. Based on robot assembly and other application verification, the robustness and stability of the proposed approach are demonstrated with superior and smooth tracking performance.

KeywordAdaptive Control Chattering Suppression Disturbance Observer Robot Manipulator Sliding Mode Control
DOI10.1109/LRA.2022.3164448
URLView the original
Indexed BySCIE
Language英語English
WOS Research AreaRobotics
WOS SubjectRobotics
WOS IDWOS:000785670500008
Scopus ID2-s2.0-85127830752
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Cited Times [WOS]:2   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionFaculty of Science and Technology
Corresponding AuthorYang, Zhi Xin
Affiliation1.State Key Laboratory of Internet of Things for Smart City, Department of Electromechanical Engineering, University of Macau, 999078, Macao
2.Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, Guangdong, 518055, China
First Author AffilicationUniversity of Macau
Corresponding Author AffilicationUniversity of Macau
Recommended Citation
GB/T 7714
Xi, Rui Dong,Xiao, Xiao,Ma, Tie Nan,et al. Adaptive Sliding Mode Disturbance Observer Based Robust Control for Robot Manipulators Towards Assembly Assistance[J]. IEEE Robotics and Automation Letters,2022,7(3):6139-6146.
APA Xi, Rui Dong,Xiao, Xiao,Ma, Tie Nan,&Yang, Zhi Xin.(2022).Adaptive Sliding Mode Disturbance Observer Based Robust Control for Robot Manipulators Towards Assembly Assistance.IEEE Robotics and Automation Letters,7(3),6139-6146.
MLA Xi, Rui Dong,et al."Adaptive Sliding Mode Disturbance Observer Based Robust Control for Robot Manipulators Towards Assembly Assistance".IEEE Robotics and Automation Letters 7.3(2022):6139-6146.
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