Nonlinear disturbance observer based sliding mode control of a cable-driven rehabilitation robot

Niu, Jie; Yang, Qianqian; Chen, Guangtao; Song, Rong

doi:10.1109/icorr.2017.8009324

Cited by 15 publications

(10 citation statements)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Hence it is reasonable to assume that the change rate of the lumped disturbance is bounded. Moreover, compared to [13], [15], [24], [25], the restriction in the paper has already been relaxed. is non-differentiable only whenẋ x x = 0, which means the velocities of the active joints are zero.…”

Section: Remarkmentioning

confidence: 99%

“…Recently, the nonlinear disturbance observer (NDO) [11], [12] has been introduced in SMC to improve the robustness and alleviate the chattering effect in nonlinear systems. The NDO based SMC with exponential reaching law is proposed for a cable-driven rehabilitation robot in [13]. For the permanent magnet synchronous motor drive system [14], a nonsingular terminal SMC strategy based on the NDO is developed with small chattering since smaller switching gain is needed for this algorithm.…”

Section: Introductionmentioning

confidence: 99%

“…A sliding mode position tracking control scheme using NDO is proposed for a two-link robotic manipulator suffering from system uncertainty and disturbance in [15], the trajectory tracking precision and system robustness is enhanced due to the NDO. Unfortunately, the derivative of the lumped disturbance is supposed to be zero in [13], [15], which limits the application of this approach to some extent.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Synchronous Robust Sliding Mode Control of a Parallel Robot for Automobile Electro-Coating Conveying

Gao

Zhang

2019

IEEE Access

View full text Add to dashboard Cite

This paper is devoted to improving the synchronization and robustness performance of a parallel robot used for automobile electro-coating conveying via a novel synchronous robust sliding mode control (SMC). A sliding surface is designed based on a composite error, which is composed of the tracking error of each joint and the synchronization errors among the joints. By incorporating a nonlinear disturbance observer into the finite-time SMC based on the composite error, the synchronous robust SMC of the parallel robot is realized. The finite-time Lyapunov stability of the sliding variable and the asymptotic convergence of the tracking error and synchronization error have been proved theoretically. The lumped disturbance in the system is estimated by the proposed scheme, and restriction on the change rate of the lumped disturbance has been relaxed. Due to the feedforward compensation with the disturbance estimation value, the switching gain of SMC required is merely larger than the upper bound of the disturbance estimation error, rather than the upper bound of the disturbance, resulting in chattering attenuation. Finally, the numerical simulation and experiment on the prototype system of the parallel robot are implemented to validate the effectiveness of the synchronous robust SMC.

show abstract

Section: Remarkmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Synchronous Robust Sliding Mode Control of a Parallel Robot for Automobile Electro-Coating Conveying

Gao

Zhang

2019

IEEE Access

View full text Add to dashboard Cite

show abstract

“…In recent years, for different application purposes, cabledriven robots have been extensively studied by researchers and engineers. A variety of cable-driven robot application design solutions have been proposed, such as in the field of aerial robots [5], [6], human rehabilitation movement [7], [8], and marine platforms [9], [10]. In addition, due to the need of underwater work, the application of underwater robots in marine industry and marine scientific research has become more and more extensive.…”

Section: Introductionmentioning

confidence: 99%

System Modeling and Motion Control of a Cable-Driven Parallel Platform for Underwater Camera Stabilization

et al. 2021

View full text Add to dashboard Cite

Underwater camera platform's low image stabilization accuracy and poor waterproofness seriously restrict the quality of photos. In order to better cope with underwater camera work, this paper proposes a cable-driven underwater camera stabilized platform. It is a mobile platform driven in parallel by four flexible cables. To improve image stabilization accuracy and anti-interference performance, the system's dynamic model is established in a non-inertial reference frame. And the random water wave interference is modeled. Moreover, a novel double-loop integral-type global fast terminal sliding mode control strategy is designed. Lyapunov stability theory is used to analyze the stability of the strategy. Finally, by comparing with the existing global fast terminal sliding mode controller and traditional sliding mode controller, the designed controller is simulated and verified. The results show that the proposed control strategy not only has the advantages of fast response and robustness, but also has the characteristics of rapid convergence in a finite time and high accuracy. This method can provide a valuable reference for the development of underwater camera stabilized platforms.INDEX TERMS Cable-driven parallel robot, dynamic model, global fast terminal sliding mode control, underwater stabilized platform.

show abstract

“…20 Recently, Sun et al 21 utilized SMO approach to estimate the decoupled disturbances and full system states of nonlinear systems and got satisfactory control performance. Niu et al 22 proposed a nonlinear disturbance observer-based sliding mode control for trajectory tracking of cable-driven rehabilitation robot. ESO proposed by Han 23 was specially designed to deal with the lumped uncertainty, including unknown system dynamics and the external disturbances.…”

Section: Introductionmentioning

confidence: 99%

Finite-time tracking control for uncertain robotic manipulators using backstepping method and novel extended state observer

Chen

Zhang

et al. 2019

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

This article considers finite-time trajectory tracking control problem for robotic manipulators with parameter uncertainties and external disturbances. A finite-time controller that achieves high precision and strong robustness is proposed without the requirement of the exact dynamic model. First, a novel finite-time model-assisted extended state observer is designed to compensate the system uncertainties with complex and uncertain dynamics. Then, a composite finite-time controller is developed for trajectory tracking control with the help of finite-time model-assisted extended state observer. Compared to the classic extended state observer, it is proved that the estimation error of finite-time modelassisted extended state observer can be stabilized in finite time. Meanwhile, the finite-time convergence of the closed-loop system with the proposed controller can also be proved through Lyapunov's stability theory. A variable structure term is employed to compensate the estimation errors of finite-time model-assisted extended state observer. The validity of the control scheme is demonstrated by simulations and experiments.

show abstract

Nonlinear disturbance observer based sliding mode control of a cable-driven rehabilitation robot

Cited by 15 publications

References 11 publications

Synchronous Robust Sliding Mode Control of a Parallel Robot for Automobile Electro-Coating Conveying

Synchronous Robust Sliding Mode Control of a Parallel Robot for Automobile Electro-Coating Conveying

System Modeling and Motion Control of a Cable-Driven Parallel Platform for Underwater Camera Stabilization

Finite-time tracking control for uncertain robotic manipulators using backstepping method and novel extended state observer

Contact Info

Product

Resources

About