Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
7116348 | ISA Transactions | 2018 | 11 Pages |
Abstract
A two-joint coupling nonlinear system driven by pneumatic artificial muscles is introduced in this paper. A sliding mode controller with extended state observer is proposed to cope with nonlinearities and disturbances for the two-joint coupling nonlinear system. In addition, convergence of the extended state observer is presented and stability analysis of the closed-loop system is also demonstrated with the sliding mode controller. Lastly, some experiments are carried out to show the reality effectiveness of the proposed method.
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Ling Zhao, Haiyan Cheng, Tao Wang,