{"title":"基于非线性扩展状态观测器的拟人手指积分滑模控制。","authors":"","doi":"10.1016/j.isatra.2024.07.010","DOIUrl":null,"url":null,"abstract":"<div><p>Due to the disturbance of couplings, the anthropomorphic finger lacks sufficient stability and accuracy in joint<span> 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<span><span> (PAMs) in this paper. A nonlinear extended state observer<span> (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 </span></span>Lyapunov methods. Furthermore, experimental results illustrate the validity of the proposed control strategy.</span></span></p></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":null,"pages":null},"PeriodicalIF":6.3000,"publicationDate":"2024-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Integral sliding mode control for an anthropomorphic finger based on nonlinear extended state observer\",\"authors\":\"\",\"doi\":\"10.1016/j.isatra.2024.07.010\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><p>Due to the disturbance of couplings, the anthropomorphic finger lacks sufficient stability and accuracy in joint<span> 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<span><span> (PAMs) in this paper. A nonlinear extended state observer<span> (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 </span></span>Lyapunov methods. Furthermore, experimental results illustrate the validity of the proposed control strategy.</span></span></p></div>\",\"PeriodicalId\":14660,\"journal\":{\"name\":\"ISA transactions\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":6.3000,\"publicationDate\":\"2024-07-09\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"ISA transactions\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S0019057824003318\",\"RegionNum\":2,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"AUTOMATION & CONTROL SYSTEMS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"ISA transactions","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0019057824003318","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
Integral sliding mode control for an anthropomorphic finger based on nonlinear extended state observer
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.
期刊介绍:
ISA Transactions serves as a platform for showcasing advancements in measurement and automation, catering to both industrial practitioners and applied researchers. It covers a wide array of topics within measurement, including sensors, signal processing, data analysis, and fault detection, supported by techniques such as artificial intelligence and communication systems. Automation topics encompass control strategies, modelling, system reliability, and maintenance, alongside optimization and human-machine interaction. The journal targets research and development professionals in control systems, process instrumentation, and automation from academia and industry.