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Adaptive sliding tracking control for nonlinear uncertain robotic systems with unknown actuator nonlinearities

Published online by Cambridge University Press:  20 December 2021

Shubo Liu Open the ORCID record for Shubo Liu [Opens in a new window] ,
Guoquan Liu  and
Shengbiao Wu
Shubo Liu*
Affiliation:
Jiangxi Province Engineering Research Center of New Energy Technology and Equipment, East China University of Technology, Nanchang330013, PR China
Guoquan Liu
Affiliation:
Jiangxi Province Engineering Research Center of New Energy Technology and Equipment, East China University of Technology, Nanchang330013, PR China
Shengbiao Wu
Affiliation:
Jiangxi Province Engineering Research Center of New Energy Technology and Equipment, East China University of Technology, Nanchang330013, PR China
*
*Corresponding author. E-mail: sbliu@ecut.edu.cn
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Abstract

This study is concerned with the tracking control problem for nonlinear uncertain robotic systems in the presence of unknown actuator nonlinearities. A novel adaptive sliding controller is designed based on a robust disturbance observer without any prior knowledge of actuator nonlinearities and system dynamics. The proposed control strategy can guarantee that the tracking error eventually converges to an arbitrarily small neighborhood of zero. Simulation results are included to demonstrate the effectiveness and superiority of the proposed strategy.

Keywords

unknown actuator nonlinearitiesnonlinear uncertain robotic systemsadaptive sliding controlrobust disturbance observerrobust performance
Type
Research Article
Information
Robotica , Volume 40 , Issue 8 , August 2022 , pp. 2527 - 2546
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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