This paper presents a unique ESO-based fuzzy sliding-mode controller (FSMC-ESO) for a 3-DOF serial-parallel hybrid humanoid\narm (HHA) for the trajectory tracking control problem. The dynamic model of the HHA is obtained by Lagrange method and\nis nonlinear in dynamics with inertia uncertainty and external disturbance. The FSMC-ESO is based on the combination of the\nsliding-mode control (SMC), extended state observer (ESO) theory, and fuzzy control (FC). The SMC is insensitive to both internal\nparameter uncertainties and external disturbances. The motivation for using ESO is to estimate the disturbance in real-time. The\nfuzzy parameter self-tuning strategy is proposed to adjust the switching gain on line according to the running state of the system.\nThe stability of the system is guaranteed in the sense of the Lyapunov stability theorem. The effectiveness and robustness of the\ndesigned FSMC-ESO are illustrated by simulations.
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