What question did this study set out to answer?

To develop a cascaded extended state observer-based sliding-mode control framework that mitigates noise amplification, underactuation, and uncertainties in flexible joint robots.

December 12, 2019IEEE Transactions on Industrial Electronics

Cascaded-Extended-State-Observer-Based Sliding-Mode Control for Underactuated Flexible Joint Robot

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To develop a cascaded extended state observer-based sliding-mode control framework that mitigates noise amplification, underactuation, and uncertainties in flexible joint robots.
Transformed the underactuated dynamic model of the flexible joint robot into canonical form using the Olfati transformation and a differential flatness approach.
Formulated a cascaded extended state observer to estimate internal states and disturbances, combined with sliding-mode control featuring reduced switching gains to suppress chattering.
Proved closed-loop system stability using the Lyapunov method and validated performance via simulations and real-time physical robot experiments.
The cascaded extended state observer successfully attenuated high-order noise and accurately estimated external disturbances, relaxing the required disturbance upper bound.
The combined control architecture substantially reduced control chattering while maintaining robust trajectory tracking under system uncertainties and disturbances in real-time testing.

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Implication

Experimental study demonstrates robust disturbance rejection and reduced chattering in flexible joint robots, indicating improved precision for high-order underactuated systems.

Cite This Study

Rsetam et al. (2019) studied this question.

synapsesocial.com/papers/6a030798bc3ffe278e654111 https://doi.org/10.1109/tie.2019.2958283

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Implication

Experimental study demonstrates robust disturbance rejection and reduced chattering in flexible joint robots, indicating improved precision for high-order underactuated systems.

Cascaded-Extended-State-Observer-Based Sliding-Mode Control for Underactuated Flexible Joint Robot

Key Points

Discussion

Implication

Cite This Study

Cascaded-Extended-State-Observer-Based Sliding-Mode Control for Underactuated Flexible Joint Robot

Key Points

Discussion

Implication

Cite This Study