Sliding mode control using disturbance observer for a flexible link robot

Han, Linyan; Wu, Qingxian; Li, Xiaoran

doi:10.1109/vss.2016.7506961

Cited by 3 publications

(1 citation statement)

References 12 publications

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“…2020a, 2020b; Wu, 2020; Jiang, 2021). Document (Han, 2016; Huang, 2019; Cui, 2019; Ren, 2019; Huang, 2020) was used as sliding mode control and disturbance observer, which decoupled the coupling between each joint of the robot and improved the accuracy of the tracking. To design a parallel H4 robot controller based on predictive control, this can be complete tracking control for the robot (Baek, 2018).…”

Section: Introductionmentioning

confidence: 99%

Research on active disturbance rejection control technique for underwater welding robot based on model compensation

Zhang

2023

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Purpose An active disturbance rejection controller (ADRC) based on model compensation is proposed in this paper. The method should first be taken a nominal model of the robot to compensate. Subsequently, the uncertain external disturbance is estimated and compensated is used an expansion state observer (ESO) in real time, which can reduce the estimating range of observation for ESO. The purpose of this paper is to suggest a novel method to improve the system tracking performance, as well as the dynamic and static performance index. Design/methodology/approach A welding robot is a complicated system with uncertainty, time-varying, strong coupling and a nonlinear system; it is more complex as if it is used in an underwater environment, and it is difficult to establish an accurate dynamic model for an underwater welding robot. Aiming at the tracking control of an underwater welding robot, it is difficult to achieve the control performance requirements by the conventional proportional integral derivative method to realize automatic tracking of the seam. Findings The simulation experiment is carried out by MATLAB/Simulink, and the application experiment is recorded. The experimental results show that the control method is correct and effective, and the system’s tracking performance is stable, and the robustness and tracking accuracy of the system are also improved. Originality/value The seam gets plumper and smoother, with better continuity and no undercut phenomenon.

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