A Disturbance Observer Based Sliding Mode Control for a Class of Underactuated Robotic System With Mismatched Uncertainties

In this note, a high-order disturbance observer for a class of underactuated robotic systems with mismatched uncertainties is proposed. To improve its estimation performance, a choice method of optimal gain matrices of the high-order disturbance observer is obtained as the solution of an optimizatio...

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Bibliographic Details
Published in:IEEE transactions on automatic control 2019-06, Vol.64 (6), p.2480
Main Authors: Huang, Jian, Songhyok Ri, Fukuda, Toshio, Wang, Yongji
Format: Article
Language:English
Subjects:
Disturbance observers
Feedback control
Optimization
Robotics
Sliding mode control
Uncertainty
Online Access:Get full text
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Summary:In this note, a high-order disturbance observer for a class of underactuated robotic systems with mismatched uncertainties is proposed. To improve its estimation performance, a choice method of optimal gain matrices of the high-order disturbance observer is obtained as the solution of an optimization problem. A high-order disturbance observer based sliding mode control method is also designed for this class of underactuated robotic system with mismatched disturbance. The stabilities of both the disturbance observer and the controlled closed-loop system are proved by the Lyapunov theorem. Simulations on a benchmark Acrobot system demonstrate the efficiency of proposed approaches.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2018.2868026