Su Xiaojie, Qing Fandi, Chang Hongbin, Wang Shuoyu
IEEE Trans Cybern. 2024 Mar;54(3):1747-1754. doi: 10.1109/TCYB.2023.3253171. Epub 2024 Feb 9.
In this article, the tracking problem of the adaptive sliding-mode control (SMC) design for human support robots based on a disturbance observer is investigated. First, a finite-time controller using nonsingular fast terminal SMC is proposed. Then, a robust disturbance observer is developed to estimate system uncertainties and disturbances. Simultaneously, to deal with the unknown bounded disturbance observer error, an adaptive control technology is developed. Furthermore, the proposed controller is synthesized to ensure that the tracking errors can be stabilized in finite time. Finally, simulations are performed to demonstrate that human support robots employing the proposed controller can converge to the desired trajectory.
本文研究了基于干扰观测器的人体辅助机器人自适应滑模控制（SMC）设计的跟踪问题。首先，提出了一种采用非奇异快速终端滑模控制的有限时间控制器。然后，开发了一种鲁棒干扰观测器来估计系统不确定性和干扰。同时，为了处理未知有界的干扰观测器误差，开发了一种自适应控制技术。此外，所提出的控制器经过综合设计，以确保跟踪误差能在有限时间内稳定下来。最后，通过仿真证明，采用所提出控制器的人体辅助机器人能够收敛到期望轨迹。
