典型文献
Spiking-free HGO-based DSC for flexible joint manipulator
文献摘要：
The tracking control problem for Flexible Joint Manipulator Control System (FJMCS)with unmeasurable states is addressed in this paper.Firstly,a High-Gain Observer (HGO) is con-structed to estimate the unmeasurable states and the uncertainties.Then,a Dynamic Surface Con-trol (DSC) scheme is developed by using the estimation of HGO.The newly proposed controller has two advantages over the existing methods:(A) a novel Spike Suppression Function (SSF) is devel-oped to avoid the estimation spike problem in the existing HGO-based controllers.(B) Unlike the existing observer-based partial feedback control scheme that can only estimate the unmeasurable states,the proposed HGO can estimate both the unmeasurable states and uncertainties.The closed-loop system stability is proved by the Lyapunov theory.Simulation results demonstrate the effectiveness of the proposed controller.
文献关键词：
中图分类号：
作者姓名：
Dezhi KONG;Wendong WANG;Yang WANG;Junbo ZHANG;Yikai SHI;Lingyun KONG
作者机构：
School of Mechanical Engineering,Northwestern Polytechnical University,Xi'an 710072,China;Shaanxi Engineering Research Center of Controllable Neutron Source,School of Science,Xijing University,Xi'an 710123,China
文献出处：
引用格式：
[1]Dezhi KONG;Wendong WANG;Yang WANG;Junbo ZHANG;Yikai SHI;Lingyun KONG-.Spiking-free HGO-based DSC for flexible joint manipulator)[J].中国航空学报（英文版）,2022(03):419-431
A类：
FJMCS
B类：
Spiking,free,HGO,DSC,flexible,joint,manipulator,tracking,problem,Flexible,Joint,Manipulator,Control,System,unmeasurable,states,addressed,this,paper,Firstly,High,Gain,Observer,structed,estimate,uncertainties,Then,Dynamic,Surface,scheme,developed,by,using,estimation,newly,proposed,has,two,advantages,over,existing,methods,novel,Spike,Suppression,Function,SSF,avoid,spike,controllers,Unlike,observer,partial,feedback,that,can,only,both,closed,loop,system,stability,proved,Lyapunov,theory,Simulation,results,demonstrate,effectiveness
AB值：
0.551236
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