Trajectory Tracking Control of a One Degree of Freedom Manipulator Based on a Switched Sliding Mode Controller With a Novel Extended State Observer Framework
针对气动人工肌肉驱动的单自由度机械臂，设计了切换滑模控制器和基于广义超螺旋算法的新型扩展状态观测器，以处理内部不确定性和外部扰动，并通过实验验证了方法的有效性。
This paper considers trajectory tracking control for a one-degree of freedom (DoF) manipulator system driven by pneumatic artificial muscles. A switched sliding mode controller is accordingly designed. In the proposed scheme, a novel extended state observer based on a generalized super-twisting algorithm is first designed to deal with internal uncertainties and external disturbances in the one-DoF manipulator system. Second, the finite time convergence of the closed-loop system with the proposed sliding mode technique is analyzed. Lastly, some experimental results are presented to show the validity and advantages of the proposed approach.