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. 2024 Jan:144:374-384.
doi: 10.1016/j.isatra.2023.10.014. Epub 2023 Oct 16.

Backstepping integral sliding mode control for pneumatic manipulators via adaptive extended state observers

Ling Zhao  1 , Zhuojun Li  2 , Hongbo Li  3 , Bo Liu  4
Affiliations

Backstepping integral sliding mode control for pneumatic manipulators via adaptive extended state observers

Ling Zhao et al. ISA Trans. 2024 Jan.

Abstract

In this paper, a nonlinear control strategy is proposed for a pneumatic manipulator based on an adaptive extended state observer and a backstepping integral sliding mode controller. A single degree of freedom dynamic model is established for the pneumatic manipulator using an Euler-Lagrange dynamic equation. The adaptive extended state observer is designed by an adaptive law to estimate uncertainties and disturbances. The backstepping integral sliding mode controller is proposed using an integral sliding mode surface based on backstepping technique. Comparative experiments verify effectiveness of the proposed nonlinear control strategy for the pneumatic manipulator.

Keywords: Adaptive extended state observer; Backstepping technique; Integral sliding mode control; Pneumatic manipulator.

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Conflict of interest statement

Declaration of competing interest The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper.

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