TY - GEN
T1 - Fractional-order Sliding Mode Based Variable Stiffness and Damping Impedance Control with Disturbance Observer
AU - Ma, Zhiqiang
AU - Dong, Gangqi
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/11
Y1 - 2019/11
N2 - This paper proposes a fractional-order sliding mode based variable stiffness and damping impedance controller. A new closed-loop impedance architecture containing the negative power type stiffness and damping parameters is built, and an integral fractional-order sliding surface synthesizes constant and variable impedance parameters to construct a reduced order system, which indicates an impedance behavior. The external disturbance easily propagates to the preset impedance architecture to degenerate the stable performance of reduced order system, and it is well estimated by a fractional-order disturbance observer to reduce the adverse effect by partially eliminating the disturbance. The proposed impedance architecture owns better transient performance compared with the trivial spring-damper impedance architecture, which is well illustrated by the verified numerical results.
AB - This paper proposes a fractional-order sliding mode based variable stiffness and damping impedance controller. A new closed-loop impedance architecture containing the negative power type stiffness and damping parameters is built, and an integral fractional-order sliding surface synthesizes constant and variable impedance parameters to construct a reduced order system, which indicates an impedance behavior. The external disturbance easily propagates to the preset impedance architecture to degenerate the stable performance of reduced order system, and it is well estimated by a fractional-order disturbance observer to reduce the adverse effect by partially eliminating the disturbance. The proposed impedance architecture owns better transient performance compared with the trivial spring-damper impedance architecture, which is well illustrated by the verified numerical results.
KW - fractional calculus
KW - impedance control
KW - sliding mode control
UR - http://www.scopus.com/inward/record.url?scp=85085867663&partnerID=8YFLogxK
U2 - 10.1109/CIS-RAM47153.2019.9095801
DO - 10.1109/CIS-RAM47153.2019.9095801
M3 - 会议稿件
AN - SCOPUS:85085867663
T3 - Proceedings of the IEEE 2019 9th International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019
SP - 316
EP - 320
BT - Proceedings of the IEEE 2019 9th International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th IEEE International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019
Y2 - 18 November 2019 through 20 November 2019
ER -