Novel quasi-continuous super-twisting high-order sliding mode controllers for output feedback tracking control of robot manipulators
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Van, Mien | - |
dc.contributor.author | Kang, Hee-Jun | - |
dc.contributor.author | Shin, Kyoo-Sik | - |
dc.date.accessioned | 2021-06-22T22:04:25Z | - |
dc.date.available | 2021-06-22T22:04:25Z | - |
dc.date.created | 2021-01-21 | - |
dc.date.issued | 2014-12 | - |
dc.identifier.issn | 0954-4062 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/21103 | - |
dc.description.abstract | In this paper, a robust output feedback tracking control scheme for uncertain robot manipulators with only position measurements is investigated. First, a quasi-continuous second-order sliding mode (QC2S)-based exact differentiator and super-twisting second-order sliding mode (STW2S) controllers are designed to guarantee finite time convergence. Although the QC2S produces continuous control and less chattering than that of a conventional sliding mode controller and other high-order sliding mode controllers, a large amount of chattering exists when the sliding manifold is defined by the equation s = s = 0. To decrease the chattering, an uncertainty observer is used to compensate for the uncertainty effects, and this controller may possess a smaller switching gain. Compared to the QC2S controller, the STW2S has less chattering and tracking error when the system remains on the sliding manifold s = s = 0. Therefore, to further eliminate the chattering and obtain a faster transient response and higher tracking precision, we develop a quasi-continuous super-twisting second-order sliding mode controller, which integrates both the merits of QC2S and STW2S controllers. The stability and convergence of the proposed scheme are theoretically demonstrated. Finally, computer simulation results for a PUMA560 robot comparing with conventional QC2S and STW2S controllers are shown to verify the effectiveness of the proposed algorithm. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | SAGE PUBLICATIONS LTD | - |
dc.title | Novel quasi-continuous super-twisting high-order sliding mode controllers for output feedback tracking control of robot manipulators | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Shin, Kyoo-Sik | - |
dc.identifier.doi | 10.1177/0954406214526828 | - |
dc.identifier.scopusid | 2-s2.0-84918526144 | - |
dc.identifier.wosid | 000346263400016 | - |
dc.identifier.bibliographicCitation | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, v.228, no.17, pp.3240 - 3257 | - |
dc.relation.isPartOf | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE | - |
dc.citation.title | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE | - |
dc.citation.volume | 228 | - |
dc.citation.number | 17 | - |
dc.citation.startPage | 3240 | - |
dc.citation.endPage | 3257 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalWebOfScienceCategory | Engineering, Mechanical | - |
dc.subject.keywordPlus | NEURAL-NETWORK CONTROL | - |
dc.subject.keywordPlus | MECHANICAL SYSTEMS | - |
dc.subject.keywordPlus | IDENTIFICATION | - |
dc.subject.keywordPlus | OBSERVER | - |
dc.subject.keywordPlus | Controllers | - |
dc.subject.keywordPlus | Flexible manipulators | - |
dc.subject.keywordPlus | Industrial robots | - |
dc.subject.keywordPlus | Modular robots | - |
dc.subject.keywordPlus | Navigation | - |
dc.subject.keywordPlus | Robot applications | - |
dc.subject.keywordPlus | Sliding mode control | - |
dc.subject.keywordPlus | Transient analysis | - |
dc.subject.keywordAuthor | Robot manipulators | - |
dc.subject.keywordAuthor | output feedback tracking control | - |
dc.subject.keywordAuthor | quasi-continuous high-order sliding mode | - |
dc.subject.keywordAuthor | observer-controller | - |
dc.subject.keywordAuthor | and super-twisting second-order sliding mode controller | - |
dc.identifier.url | https://journals.sagepub.com/doi/10.1177/0954406214526828 | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
55 Hanyangdeahak-ro, Sangnok-gu, Ansan, Gyeonggi-do, 15588, Korea+82-31-400-4269 sweetbrain@hanyang.ac.kr
COPYRIGHT © 2021 HANYANG UNIVERSITY. ALL RIGHTS RESERVED.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.