Tracking Control of Manipulator Based on High-Order Disturbance Observer | Zendy

Wenchao Zheng | Zendy; Mou Chen | Zendy

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Tracking Control of Manipulator Based on High-Order Disturbance Observer

Author(s) -

Wenchao Zheng,

Mou Chen

Publication year - 2018

Publication title -

ieee access

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.587

H-Index - 127

ISSN - 2169-3536

DOI - 10.1109/access.2018.2834978

Subject(s) - aerospace , bioengineering , communication, networking and broadcast technologies , components, circuits, devices and systems , computing and processing , engineered materials, dielectrics and plasmas , engineering profession , fields, waves and electromagnetics , general topics for engineers , geoscience , nuclear engineering , photonics and electrooptics , power, energy and industry applications , robotics and control systems , signal processing and analysis , transportation

This paper develops a composite tracking controller for a two-link manipulator. Because a completely accurate dynamic model for a manipulator is unavailable in practice and because a manipulator generally suffers from all types of unknown external disturbances from its working environment, a high-order disturbance observer (HODO) is introduced. Both the internal and external disturbances are regarded as a total compound disturbance to be estimated by the HODO. To achieve excellent tracking performance of a self-designed manipulator platform for any bounded initial state, a sliding-mode controller is proposed with disturbance estimation compensation. The bounded stability of the closed-loop control system is analyzed with the Lyapunov method. Finally, simulation results and experimental results are provided to demonstrate the effectiveness of the proposed tracking controller.

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