2022
DOI: 10.1155/2022/8151132
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RBFNN-Enabled Adaptive Parameters Identification for Robot Servo System Based on Improved Sliding Mode Observer

Abstract: Effective and accurate parameter identification, especially the identification of load torque, is one of the key factors to improve the control performance of the robot servo system. Sliding mode observer (SMO) has always been a common method for identifying load torque due to its advantages of simple implementation, strong robustness, and fast response. However, due to the discontinuity of the SMO switching function, the system will generate high-frequency chattering, which will reduce the accuracy of load to… Show more

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