کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
6867025 | 1439834 | 2018 | 36 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Optimal super-twisting algorithm with time delay estimation for robot manipulators based on feedback linearization
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
هوش مصنوعی
پیش نمایش صفحه اول مقاله
![عکس صفحه اول مقاله: Optimal super-twisting algorithm with time delay estimation for robot manipulators based on feedback linearization Optimal super-twisting algorithm with time delay estimation for robot manipulators based on feedback linearization](/preview/png/6867025.png)
چکیده انگلیسی
In this paper, an Optimal Super-Twisting Algorithm (OSTA) with time delay estimation is designed based on Input/Output feedback linearization for uncertain robot manipulators. The design procedure consists on three steps. Firstly, an Input/Output feedback linearization is applied to transform the nonlinear model into a linear equivalent one. Secondly, by defining a quadratic performance, an optimal sliding surface will be designed. Finally, a super-twisting algorithm with time delay estimation is proposed for high accuracy tracking trajectory. Lyapunov theory is used to prove the finite-time convergence of the sliding surface and its derivative. This structure is used to estimate unknown dynamics and to reduce the control effort and the chattering phenomenon.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 108, October 2018, Pages 87-99
Journal: Robotics and Autonomous Systems - Volume 108, October 2018, Pages 87-99
نویسندگان
Yassine Kali, Maarouf Saad, Khalid Benjelloun,