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Integral sliding mode control for an anthropomorphic finger based on nonlinear extended state observer.
Zhao, Ling; Peng, Meiqin; Li, Zhuojun; He, Minghui.
Afiliación
  • Zhao L; State Key Laboratory of Precision Measurement Technology and Instruments, Tianjin University, Tianjin, 300072, China; State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, 310027, Hangzhou, China. Electronic address: ling.zhao@tju.edu.cn.
  • Peng M; State Key Laboratory of Precision Measurement Technology and Instruments, Tianjin University, Tianjin, 300072, China. Electronic address: 2021202117@tju.edu.cn.
  • Li Z; State Key Laboratory of Precision Measurement Technology and Instruments, Tianjin University, Tianjin, 300072, China. Electronic address: 2021202347@tju.edu.cn.
  • He M; State Key Laboratory of Precision Measurement Technology and Instruments, Tianjin University, Tianjin, 300072, China. Electronic address: 2021202172@tju.edu.cn.
ISA Trans ; 153: 433-442, 2024 Oct.
Article en En | MEDLINE | ID: mdl-39019765
ABSTRACT
Due to the disturbance of couplings, the anthropomorphic finger lacks sufficient stability and accuracy in joint motion control, which further affects the performance of complex grasping and operating for anthropomorphic hands. In order to obtain stable and accurate joint motion control effect, an anthropomorphic finger control strategy is proposed for an anthropomorphic finger driven by pneumatic artificial muscles (PAMs) in this paper. A nonlinear extended state observer (NESO) is presented to observe the disturbance of couplings for the anthropomorphic finger. An integral sliding mode controller (ISMC) is proposed to realize joint motion control and improve steady state performance. The convergences of the NESO and the ISMC are demonstrated by Lyapunov methods. Furthermore, experimental results illustrate the validity of the proposed control strategy.
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Texto completo: 1 Colección: 01-internacional Base de datos: MEDLINE Idioma: En Revista: ISA Trans Año: 2024 Tipo del documento: Article Pais de publicación: Estados Unidos
Texto completo
Añadir a Mi BVS
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XML
PubMed Links
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Texto completo: 1 Colección: 01-internacional Base de datos: MEDLINE Idioma: En Revista: ISA Trans Año: 2024 Tipo del documento: Article Pais de publicación: Estados Unidos