학술논문
Adaptive Hierarchical Sliding Mode Control Based on Extended State Observer for Underactuated Robotic System
Document Type
Article
Source
(2022): 1036-1049.
Subject
Language
Korean
ISSN
15986446
Abstract
In order to stabilize underactuated robotic systems with external disturbances, an adaptive hierarchicalsliding mode control strategy based on extended state observer is proposed. The extended state observer is designed to estimate the joint states and lumped disturbance composed of matched and unmatched disturbances. Theunderactuated robotic system is divided into two subsystems. For each subsystem, a sub-sliding mode surface isconstructed to obtain the first layer sliding mode surface and the second layer sliding mode surface is derived fromthe first layer sliding mode surface. Then the hierarchical sliding mode controller is designed with the estimatedstate obtained from the observer to compensate the lumped disturbance and an adaptive law is designed to adjustthe switching gain. The stability of the system is proved by Lyapunov theory and the effectiveness of the proposedcontrol strategy is verified by comparative simulations. With the proposed control, the tracking performance of theunderactuated robotic system is effectively improved and the convergence time of the system is reduced.
In order to stabilize underactuated robotic systems with external disturbances, an adaptive hierarchicalsliding mode control strategy based on extended state observer is proposed. The extended state observer is designed to estimate the joint states and lumped disturbance composed of matched and unmatched disturbances. Theunderactuated robotic system is divided into two subsystems. For each subsystem, a sub-sliding mode surface isconstructed to obtain the first layer sliding mode surface and the second layer sliding mode surface is derived fromthe first layer sliding mode surface. Then the hierarchical sliding mode controller is designed with the estimatedstate obtained from the observer to compensate the lumped disturbance and an adaptive law is designed to adjustthe switching gain. The stability of the system is proved by Lyapunov theory and the effectiveness of the proposedcontrol strategy is verified by comparative simulations. With the proposed control, the tracking performance of theunderactuated robotic system is effectively improved and the convergence time of the system is reduced.
In order to stabilize underactuated robotic systems with external disturbances, an adaptive hierarchicalsliding mode control strategy based on extended state observer is proposed. The extended state observer is designed to estimate the joint states and lumped disturbance composed of matched and unmatched disturbances. Theunderactuated robotic system is divided into two subsystems. For each subsystem, a sub-sliding mode surface isconstructed to obtain the first layer sliding mode surface and the second layer sliding mode surface is derived fromthe first layer sliding mode surface. Then the hierarchical sliding mode controller is designed with the estimatedstate obtained from the observer to compensate the lumped disturbance and an adaptive law is designed to adjustthe switching gain. The stability of the system is proved by Lyapunov theory and the effectiveness of the proposedcontrol strategy is verified by comparative simulations. With the proposed control, the tracking performance of theunderactuated robotic system is effectively improved and the convergence time of the system is reduced.