首页|Finite-time extended state observer and fractional-order sliding mode controller for impulsive hybrid port-Hamiltonian systems with input delay and actuators saturation: Application to ball-juggler robots
Finite-time extended state observer and fractional-order sliding mode controller for impulsive hybrid port-Hamiltonian systems with input delay and actuators saturation: Application to ball-juggler robots
扫码查看
点击上方二维码区域，可以放大扫码查看
原文链接
NSTL
Elsevier
This paper addresses the robust control problem of mechanical systems with hybrid dynamics in port-Hamiltonian form. It is assumed that only the position states are measurable, and time delay and saturation constraint affect the control signal. An extended state observer is designed after a coordinate transformation. The effect of the time delay in the control signal is neutralized by applying Pade approximant and augmenting the system states. An assistant system with faster convergence is developed to handle actuators saturation. Fractional-order sliding mode controller acts as a centralized controller and compensates for the undesired effects of unknown external disturbance and parameter uncertainties using the observer estimation results. Stability analysis shows that the closed-loop system states, such as the observer tracking error, and the position/velocity tracking errors, are finite-time stable. Simulation studies on a two ball-playing juggler robot with three degrees of freedom validate the theoretical results' effectiveness.
Impulsive hybrid systemsPort-Hamiltonian dynamicsExtended state observerFractional sliding surfaceFinite-time controlInput delay
Farid, Yousef、Ruggiero, Fabio
展开 >
Univ Naples Federico II, Dept Elect Engn & Informat Technol, PRISMA Lab, Via Claudio 21, I-80125 Naples, Italy
NSTL
Elsevier
