Disturbance Observer Based Finite Time Trajectory Tracking Control for a 3 DOF Hydraulic Manipulator Including Actuator Dynamics

Disturbance Observer Based Finite Time Trajectory Tracking Control for a 3 DOF Hydraulic Manipulator Including Actuator Dynamics

This paper gives the kinematic description and mathematical dynamic model of a three-degrees-of-freedom manipulator, including hydraulic actuator dynamics, and then proposes a disturbance observer-based robust control scheme for the position and torque tracking control subjected to the external dist...

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Bibliographic Details
Main Authors: To Xuan Dinh, Tran Duc Thien, Truong Hoai Vu Anh, Kyoung Kwan Ahn
Format: Article
Language:English
Published: IEEE 2018-01-01
Series:IEEE Access
Subjects:
Hydraulic driven manipulator
fast nonsingular terminal sliding mode
backstepping control
disturbance observer
Online Access:https://ieeexplore.ieee.org/document/8401495/

Internet

https://ieeexplore.ieee.org/document/8401495/

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