TY - GEN
T1 - Experimental assessment of an uncertainty-bounds estimator for an integral sliding disturbance observer
AU - Lu, Yu Sheng
AU - Chiu, Chien Wei
PY - 2013
Y1 - 2013
N2 - 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.
AB - 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.
KW - Disturbance observer
KW - robotic manipulator
KW - sliding mode
KW - switching-gain adaptation
KW - uncertainty bounds
UR - http://www.scopus.com/inward/record.url?scp=84887865272&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84887865272&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2013.6618053
DO - 10.1109/ICMA.2013.6618053
M3 - Conference contribution
AN - SCOPUS:84887865272
SN - 9781467355582
T3 - 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
SP - 1010
EP - 1014
BT - 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
T2 - 2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
Y2 - 4 August 2013 through 7 August 2013
ER -