Backstepping sliding mode decentralized control for reconfigurable manipulators based on ESO

Author

Dong Bo ; Zhao Bo ; Li Yuanchun

Author_Institution

State Key Lab. of Automobile Dynamic Simulation, Changchun, China

fYear

2011

fDate

22-24 July 2011

Firstpage

3985

Lastpage

3989

Abstract

Based on Extended State Observer(ESO) and Lyapunov stability theory, a backstepping sliding mode decentralized control algorithm for reconfigurable manipulators is proposed in this paper. The dynamics of reconfigurable manipulators is represented as a set of interconnected subsystems. The backstepping technology is used to design the sliding mode decentralized controller. ESO which is used to model the unknown dynamics of subsystem and the interconnection term can be constructed using the state estimations. Simulation examples are presented to illustrate the effectiveness of the proposed decentralized controller.

Keywords

Lyapunov methods; control system synthesis; decentralised control; manipulator dynamics; observers; stability; variable structure systems; ESO; Lyapunov stability theory; backstepping sliding mode decentralized controller design; extended state observer; reconfigurable manipulator dynamics; state estimations; Backstepping; Distributed control; Joints; Manipulator dynamics; Vehicle dynamics; Backstepping Design; ESO; Reconfigurable Manipulator; Sliding Mode Decentralized Control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2011 30th Chinese

Conference_Location

Yantai

ISSN

1934-1768

Print_ISBN

978-1-4577-0677-6

Electronic_ISBN

1934-1768

Type

conf

Filename

6000780