An output feedback tracking control based on neural sliding mode and high order sliding mode observer
An output feedback tracking control based on neural sliding mode and high order sliding mode observer
复制标题
DOI：
10.1109/hsi.2017.8005020
复制
发表时间：
2017-07
期刊：
影响因子：
--
通讯作者：
A. Vo;Hee-Jun Kang;V. Nguyen
中科院分区：
文献类型：
--
作者：
A. Vo;Hee-Jun Kang;V. Nguyen
针对机器人操作臂的不确定性，提出了一种基于神经滑模的输出反馈跟踪控制方法，该方法无需关节速度测量，并结合高阶滑模观测器。设计了两个二阶滑模观测器，分别用于估计关节速度和机械臂的动态不确定性。一、二阶滑模观测器用于在有限时间内估计状态向量，无需滤波。为了不经滤波估计不确定性，设计了二阶滑模非线性观测器。通过集成两个观测器，所得到的观测器理论上可以获得关节速度和动态不确定性的精确估计。利用它们设计了一种基于神经滑模控制器的输出反馈跟踪控制方案。该控制方案可以减少抖振，提高跟踪性能。最后，以一个二自由度机器人为例进行仿真，验证了该控制策略的有效性。
In this paper, a novel output feedback tracking control scheme based on neural sliding mode without joint velocity measurement and the high order sliding mode observer for the uncertainty of robot manipulators are presented. Two second-order sliding mode observers are designed to estimate joint velocities and dynamic uncertainties of the robot manipulator, respectively. The first-second order sliding mode observer is used to estimate the state vector in a finite time without filtration. To estimate the uncertainties without filtration, the second second-order sliding mode nonlinear observer is designed. By integrating two observers, the resulting observer can theoretically obtain exact estimations of both joint velocities and dynamic uncertainties. They are used to design an output feedback tracking control scheme based on neural sliding mode controller. This proposed control scheme can reduce chattering and improves tracking performances. Finally, the simulation for a 2-DOF robot manipulator is given to show the effectiveness of this control strategy.