dc.contributor.author |
Rsetam, Kamal |
|
dc.contributor.author |
Al-Rawi, Mohammad |
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dc.contributor.author |
Cao, Zhenwei |
|
dc.contributor.author |
Man, Zhihong |
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dc.date.accessioned |
2024-02-06T23:51:06Z |
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dc.date.available |
2024-02-06T23:51:06Z |
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dc.date.issued |
2023-03-27 |
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dc.identifier.citation |
(2023). AIP Conference Proceedings, 2651(1), 050011-. |
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dc.identifier.isbn |
9780735442962 |
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dc.identifier.issn |
0094-243X |
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dc.identifier.uri |
https://hdl.handle.net/2292/67363 |
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dc.description.abstract |
In this paper, a high order extended state observer (HOESO) based a sliding mode control (SMC) is proposed for a flexible joint robot (FJR) system in the presence of time varying external disturbance. A composite controller is integrated the merits of both HOESO and SMC to enhance the tracking performance of FJR system under the time varying and fast lumped disturbance. First, the HOESO estimator is constructed based on only one measured state to precisely estimate unknown system states and lumped disturbance with its high order derivatives in the FJR system. Second, the SMC scheme is designed based on such accurate estimations to govern the nominal FJR system by well compensating the estimation errors in the states and the lumped disturbance. To verify the tracking trajectory performance, several simulations have been conducted on the simulated FJR plant model. In addition, a comparative study is carried out between the proposed method and the full state feedback linearization control (FLC) with first order ESO (ESO1). |
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dc.publisher |
AIP Publishing |
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dc.relation.ispartof |
8TH ENGINEERING AND 2ND INTERNATIONAL CONFERENCE FOR COLLEGE OF ENGINEERING – UNIVERSITY OF BAGHDAD: COEC8-2021 Proceedings |
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dc.relation.ispartofseries |
AIP Conference Proceedings |
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dc.rights |
Items in ResearchSpace are protected by copyright, with all rights reserved, unless otherwise indicated. Previously published items are made available in accordance with the copyright policy of the publisher. |
|
dc.rights |
This article may be downloaded for personal use only. Any other use requires prior permission of the author and AIP Publishing. This article appeared in (2023). AIP Conference Proceedings, 2651(1), 050011-.and may be found at https://doi.org/10.1063/5.0105416. |
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dc.rights.uri |
https://researchspace.auckland.ac.nz/docs/uoa-docs/rights.htm |
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dc.rights.uri |
https://publishing.aip.org/resources/researchers/rights-and-permissions/sharing-content-online/ |
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dc.subject |
4007 Control Engineering, Mechatronics and Robotics |
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dc.subject |
40 Engineering |
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dc.subject |
4001 Aerospace Engineering |
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dc.title |
Sliding mode control based on high-order extended state observer for flexible joint robot under time-varying disturbance |
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dc.type |
Conference Item |
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dc.identifier.doi |
10.1063/5.0105416 |
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pubs.issue |
1 |
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pubs.begin-page |
050011 |
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pubs.volume |
2651 |
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dc.date.updated |
2024-01-10T03:58:46Z |
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dc.rights.holder |
Copyright: The authors |
en |
pubs.publication-status |
Published |
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dc.rights.accessrights |
http://purl.org/eprint/accessRights/OpenAccess |
en |
pubs.elements-id |
959461 |
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pubs.org-id |
Engineering |
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pubs.org-id |
Chemical and Materials Eng |
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dc.identifier.eissn |
1551-7616 |
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pubs.record-created-at-source-date |
2024-01-10 |
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