Sliding mode control for a two-joint coupling nonlinear system based on extended state observer

Ling Zhao; Haiyan Cheng; Tao Wang

doi:10.1016/j.isatra.2017.12.027

Sliding mode control for a two-joint coupling nonlinear system based on extended state observer

Ling Zhao^*, Haiyan Cheng, Tao Wang

^*Corresponding author for this work

School of Mechatronical Engineering

Yanshan University

Research output: Contribution to journal › Article › peer-review

53 Citations (Scopus)

Abstract

A two-joint coupling nonlinear system driven by pneumatic artificial muscles is introduced in this paper. A sliding mode controller with extended state observer is proposed to cope with nonlinearities and disturbances for the two-joint coupling nonlinear system. In addition, convergence of the extended state observer is presented and stability analysis of the closed-loop system is also demonstrated with the sliding mode controller. Lastly, some experiments are carried out to show the reality effectiveness of the proposed method.

Original language	English
Pages (from-to)	130-140
Number of pages	11
Journal	ISA Transactions
Volume	73
DOIs	https://doi.org/10.1016/j.isatra.2017.12.027
Publication status	Published - Feb 2018

Keywords

Coupling nonlinear systems
Extended state observer (ESO)
Pneumatic artificial muscle (PAM)
Sliding mode control (SMC)

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10.1016/j.isatra.2017.12.027

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abstract = "A two-joint coupling nonlinear system driven by pneumatic artificial muscles is introduced in this paper. A sliding mode controller with extended state observer is proposed to cope with nonlinearities and disturbances for the two-joint coupling nonlinear system. In addition, convergence of the extended state observer is presented and stability analysis of the closed-loop system is also demonstrated with the sliding mode controller. Lastly, some experiments are carried out to show the reality effectiveness of the proposed method.",

keywords = "Coupling nonlinear systems, Extended state observer (ESO), Pneumatic artificial muscle (PAM), Sliding mode control (SMC)",

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AB - A two-joint coupling nonlinear system driven by pneumatic artificial muscles is introduced in this paper. A sliding mode controller with extended state observer is proposed to cope with nonlinearities and disturbances for the two-joint coupling nonlinear system. In addition, convergence of the extended state observer is presented and stability analysis of the closed-loop system is also demonstrated with the sliding mode controller. Lastly, some experiments are carried out to show the reality effectiveness of the proposed method.

KW - Coupling nonlinear systems

KW - Extended state observer (ESO)

KW - Pneumatic artificial muscle (PAM)

KW - Sliding mode control (SMC)

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Sliding mode control for a two-joint coupling nonlinear system based on extended state observer

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Keywords

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