Experimental assessment of an uncertainty-bounds estimator for an integral sliding disturbance observer

Yu-Shen Lu, Chien Wei Chiu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper presents an experimental evaluation of an uncertainty-bounds estimation algorithm for an integral sliding-mode disturbance observer. When applying a sliding-mode disturbance observer to compensating for unknown disturbances, it is usually difficult to determine the required switching gain whose magnitude should be large than some uncertainty bounds so as to ensure a sliding motion. In this paper, an uncertainty-bounds estimator is incorporated into the integral sliding-mode disturbance observer to adaptively determine the upper bounds on the norm of the uncertainties. Moreover, experimental studies are conducted on a two-link robotic manipulator to investigate the effectiveness of the uncertainty-bounds estimator.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
Pages1010-1014
Number of pages5
DOIs
Publication statusPublished - 2013 Nov 25
Event2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 - Takamastu, Japan
Duration: 2013 Aug 42013 Aug 7

Publication series

Name2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013

Other

Other2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
CountryJapan
CityTakamastu
Period13/8/413/8/7

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Keywords

  • Disturbance observer
  • robotic manipulator
  • sliding mode
  • switching-gain adaptation
  • uncertainty bounds

ASJC Scopus subject areas

  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Lu, Y-S., & Chiu, C. W. (2013). Experimental assessment of an uncertainty-bounds estimator for an integral sliding disturbance observer. In 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 (pp. 1010-1014). [6618053] (2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013). https://doi.org/10.1109/ICMA.2013.6618053