Academic Journal
基于扩张状态观测器的 3-RPS 并联机器人固定时间滑模控制.
| Τίτλος: | 基于扩张状态观测器的 3-RPS 并联机器人固定时间滑模控制. (Chinese) |
|---|---|
| Alternate Title: | Fixed-time sliding mode control for 3-RPS parallel robot based on extended state observer. (English) |
| Συγγραφείς: | 米钇朴, 李壮举, 赵 伟, 曹少中 |
| Πηγή: | Journal of Mechanical & Electrical Engineering; Nov2025, Vol. 42 Issue 11, p2189-2200, 12p |
| Θεματικοί όροι: | Sliding mode control, Parallel robots, Observability (Control theory), Robust control, Simulation methods & models |
| Abstract (English): | To address the challenges of disturbance uncertainties and fast dynamic response in controlling complex non-inertial multi-body systems such as the 3-RPS parallel robot, a fixed-time convergent sliding mode control (FTSMC)strategy based on an extended state observer (ESO) was proposed. First, the kinematic structure and dynamic model of the 3-RPS parallel robot were established to lay the theoretical groundwork for controller design. Then, a fixed-time sliding mode controller was developed to guarantee convergence of the tracking error within a predefined time, independent of initial conditions. To account for system uncertainties, external disturbances, and modeling inaccuracies, these effects were collectively treated as extended states and were estimated using the ESO. The estimated states were then compensated within the controller, effectively mitigating chattering in the control signals and significantly enhancing the system's disturbance rejection capability in complex environments. Finally, ESO + FTSMC controller was compared with PID controller, sliding mode controller (SMC) and nonsingular terminal sliding mode controller (NTSMC) by simulation and experiment. The effectiveness of the fixed time sliding mode controller based on the extended state observer was verified. The research results demonstrate that the extended state observer (ESO) based fixed-time sliding mode controller achieves superior rapidity and stronger robustness, and can converge to the equilibrium point in a fixed time under different initial conditions, with fixed time convergence characteristics. Moreover, under identical external disturbances, compared to the other three controllers, the proposed method improves the disturbance rejection capability by 9% ~ 27% and reduces the settling time by 5. 3% ~ 11. 3% . This method demonstrates rapid convergence speed and strong robustness in the presence of external disturbances and system uncertainties, exhibiting excellent performance. It holds significant reference value for the application of 3-RPS parallel robots in adverse conditions. [ABSTRACT FROM AUTHOR] |
| Abstract (Chinese): | 针对 3-RPS 并联机器人这类复杂的非惯性系多刚体系统在控制中的干扰不确定性和快速性等问题, 提出了一种基于扩张状 态观测器 (ESO) 的固定时间收敛滑模控制 (FTSMC) 方法。 首先, 对 3-RPS 并联机器人进行了机构分析并建立了动力学方程, 为后 续控制器的设计提供了理论基础; 然后, 设计了一种能够实现误差固定时间收敛的固定时间滑模控制器, 同时将系统的不确定项、 干扰以及建模误差等影响因素统一归结为扩张状态, 设计了扩张状态观测器 (ESO), 对其进行了估计, 在滑模控制器的基础上进行 了补偿, 削减了控制信号中的抖振现象, 进一步增强了系统在复杂环境下的抗干扰能力; 最后, 将 ESO + FTSMC 与 PID 控制器、滑模 控制器 (SMC) 和非奇异终端滑模控制器 (NTSMC) 进行了对比仿真和实验, 验证了基于扩张状态观测器 (ESO) 的固定时间滑模控制 器的有效性。 研究结果表明: 基于扩张状态观测器 (ESO) 的固定时间收敛滑模控制器具有更好的快速性和更强的鲁棒性, 可以在 不同的初始状态下在固定时间内收敛到平衡点, 具有固定时间收敛特性; 在受到相同负载扰动时, 较其他三种控制器, 该方法扰动 抑制能力分别提升了 9% ~ 27%, 回稳时间提升了 5. 3% ~ 11. 3%。 该方法具有较快的收敛速度, 在面对外部干扰和系统不确定性 时具有较强的鲁棒性, 具有良好的工作性能, 对 3-RPS 并联机器人在恶劣环境下的应用具有一定的参考价值。 [ABSTRACT FROM AUTHOR] |
| Copyright of Journal of Mechanical & Electrical Engineering is the property of Mechanical & Electrical Engineering Magazine and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Βάση Δεδομένων: | Complementary Index |
| FullText | Text: Availability: 0 |
|---|---|
| Header | DbId: edb DbLabel: Complementary Index An: 190049711 RelevancyScore: 1023 AccessLevel: 6 PubType: Academic Journal PubTypeId: academicJournal PreciseRelevancyScore: 1023.09326171875 |
| IllustrationInfo | |
| Items | – Name: Title Label: Title Group: Ti Data: 基于扩张状态观测器的 3-RPS 并联机器人固定时间滑模控制. (Chinese) – Name: TitleAlt Label: Alternate Title Group: TiAlt Data: Fixed-time sliding mode control for 3-RPS parallel robot based on extended state observer. (English) – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22米钇朴%22">米钇朴</searchLink><br /><searchLink fieldCode="AR" term="%22李壮举%22">李壮举</searchLink><br /><searchLink fieldCode="AR" term="%22赵+伟%22">赵 伟</searchLink><br /><searchLink fieldCode="AR" term="%22曹少中%22">曹少中</searchLink> – Name: TitleSource Label: Source Group: Src Data: Journal of Mechanical & Electrical Engineering; Nov2025, Vol. 42 Issue 11, p2189-2200, 12p – Name: Subject Label: Subject Terms Group: Su Data: <searchLink fieldCode="DE" term="%22Sliding+mode+control%22">Sliding mode control</searchLink><br /><searchLink fieldCode="DE" term="%22Parallel+robots%22">Parallel robots</searchLink><br /><searchLink fieldCode="DE" term="%22Observability+%28Control+theory%29%22">Observability (Control theory)</searchLink><br /><searchLink fieldCode="DE" term="%22Robust+control%22">Robust control</searchLink><br /><searchLink fieldCode="DE" term="%22Simulation+methods+%26+models%22">Simulation methods & models</searchLink> – Name: AbstractNonEng Label: Abstract (English) Group: Ab Data: To address the challenges of disturbance uncertainties and fast dynamic response in controlling complex non-inertial multi-body systems such as the 3-RPS parallel robot, a fixed-time convergent sliding mode control (FTSMC)strategy based on an extended state observer (ESO) was proposed. First, the kinematic structure and dynamic model of the 3-RPS parallel robot were established to lay the theoretical groundwork for controller design. Then, a fixed-time sliding mode controller was developed to guarantee convergence of the tracking error within a predefined time, independent of initial conditions. To account for system uncertainties, external disturbances, and modeling inaccuracies, these effects were collectively treated as extended states and were estimated using the ESO. The estimated states were then compensated within the controller, effectively mitigating chattering in the control signals and significantly enhancing the system's disturbance rejection capability in complex environments. Finally, ESO + FTSMC controller was compared with PID controller, sliding mode controller (SMC) and nonsingular terminal sliding mode controller (NTSMC) by simulation and experiment. The effectiveness of the fixed time sliding mode controller based on the extended state observer was verified. The research results demonstrate that the extended state observer (ESO) based fixed-time sliding mode controller achieves superior rapidity and stronger robustness, and can converge to the equilibrium point in a fixed time under different initial conditions, with fixed time convergence characteristics. Moreover, under identical external disturbances, compared to the other three controllers, the proposed method improves the disturbance rejection capability by 9% ~ 27% and reduces the settling time by 5. 3% ~ 11. 3% . This method demonstrates rapid convergence speed and strong robustness in the presence of external disturbances and system uncertainties, exhibiting excellent performance. It holds significant reference value for the application of 3-RPS parallel robots in adverse conditions. [ABSTRACT FROM AUTHOR] – Name: AbstractNonEng Label: Abstract (Chinese) Group: Ab Data: 针对 3-RPS 并联机器人这类复杂的非惯性系多刚体系统在控制中的干扰不确定性和快速性等问题, 提出了一种基于扩张状 态观测器 (ESO) 的固定时间收敛滑模控制 (FTSMC) 方法。 首先, 对 3-RPS 并联机器人进行了机构分析并建立了动力学方程, 为后 续控制器的设计提供了理论基础; 然后, 设计了一种能够实现误差固定时间收敛的固定时间滑模控制器, 同时将系统的不确定项、 干扰以及建模误差等影响因素统一归结为扩张状态, 设计了扩张状态观测器 (ESO), 对其进行了估计, 在滑模控制器的基础上进行 了补偿, 削减了控制信号中的抖振现象, 进一步增强了系统在复杂环境下的抗干扰能力; 最后, 将 ESO + FTSMC 与 PID 控制器、滑模 控制器 (SMC) 和非奇异终端滑模控制器 (NTSMC) 进行了对比仿真和实验, 验证了基于扩张状态观测器 (ESO) 的固定时间滑模控制 器的有效性。 研究结果表明: 基于扩张状态观测器 (ESO) 的固定时间收敛滑模控制器具有更好的快速性和更强的鲁棒性, 可以在 不同的初始状态下在固定时间内收敛到平衡点, 具有固定时间收敛特性; 在受到相同负载扰动时, 较其他三种控制器, 该方法扰动 抑制能力分别提升了 9% ~ 27%, 回稳时间提升了 5. 3% ~ 11. 3%。 该方法具有较快的收敛速度, 在面对外部干扰和系统不确定性 时具有较强的鲁棒性, 具有良好的工作性能, 对 3-RPS 并联机器人在恶劣环境下的应用具有一定的参考价值。 [ABSTRACT FROM AUTHOR] – Name: Abstract Label: Group: Ab Data: <i>Copyright of Journal of Mechanical & Electrical Engineering is the property of Mechanical & Electrical Engineering Magazine and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.) |
| PLink | https://search.ebscohost.com/login.aspx?direct=true&site=eds-live&db=edb&AN=190049711 |
| RecordInfo | BibRecord: BibEntity: Identifiers: – Type: doi Value: 10.3969/j.issn.1001-4551.2025.11.015 Languages: – Code: chi Text: Chinese PhysicalDescription: Pagination: PageCount: 12 StartPage: 2189 Subjects: – SubjectFull: Sliding mode control Type: general – SubjectFull: Parallel robots Type: general – SubjectFull: Observability (Control theory) Type: general – SubjectFull: Robust control Type: general – SubjectFull: Simulation methods & models Type: general Titles: – TitleFull: 基于扩张状态观测器的 3-RPS 并联机器人固定时间滑模控制. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: 米钇朴 – PersonEntity: Name: NameFull: 李壮举 – PersonEntity: Name: NameFull: 赵 伟 – PersonEntity: Name: NameFull: 曹少中 IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 11 Text: Nov2025 Type: published Y: 2025 Identifiers: – Type: issn-print Value: 10014551 Numbering: – Type: volume Value: 42 – Type: issue Value: 11 Titles: – TitleFull: Journal of Mechanical & Electrical Engineering Type: main |
| ResultId | 1 |