科研之友
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摘要
Based on the Variable Gains Super-twisting Algorithm(VGSTA) and the Active Disturbance Rejection controller(ADRC) method, we propose a backstepping sliding mode decentralized ADRC control algorithm for reconfigurable manipulators. The dynamics of reconfigurable manipulators is described as a synthesis of interconnected subsystems. The ESO is amalgamated with VGSTA. Combining with the terminal sliding mode control theory and the backstepping technology, a new Extended State Observer(ESO) is designed in this paper, and it can estimate the model of the unknown dynamics of subsystem and the interconnection term, so that the desired trajectory can be tracked well. The stability of new ESO and the system is discussed by Lyapunov theory, Simulation examples are presented to illustrate the effectiveness of the proposed decentralized controller.
