Force/Torque-Based Impedance Control With Perturbation Observer—Toward High Payload System Robust Trajectory Tracking
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Access"
DOI: 10.1109/access.2022.3221535
Abstract: This paper presents a robust force/torque-based impedance control with a perturbation observer, particularly for high payload systems. One of the special cases of such systems is an assistive robot for paraplegics (ARP) with a sit-stand… read more here.
Keywords: payload; perturbation observer; impedance control; control ... See more keywords
Sliding-mode perturbation observer-based sliding-mode control design for stability enhancement of multi-machine power systems
Sign Up to like & getrecommendations! Published in 2019 at "Transactions of the Institute of Measurement and Control"
DOI: 10.1177/0142331218783240
Abstract: This paper presents the design of a sliding-mode perturbation observer-based sliding-mode control for stability enhancement of multi-machine power systems. The combinatorial effect of nonlinearities, parameter uncertainties, unmodelled dynamics and time-varying external disturbances is aggregated into… read more here.
Keywords: sliding mode; control; power; perturbation observer ... See more keywords
Trajectory Tracking Control of a Hydraulic System Using TSMCSPO based on Sliding Perturbation Observer
Sign Up to like & getrecommendations! Published in 2019 at "Applied Sciences"
DOI: 10.3390/app9071455
Abstract: This paper proposes a new designed trajectory tracking method for a hydraulic manipulator, which is the terminal sliding mode control with sliding perturbation observer (TSMCSPO). The dynamics of the hydraulic system are complex and uncertain,… read more here.
Keywords: hydraulic system; perturbation observer; sliding perturbation; control ... See more keywords