Output feedback tracking control of uncertain robot manipulators via higher-order sliding-mode observer and fuzzy compensator
DC Field | Value | Language |
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dc.contributor.author | Van, Mien | - |
dc.contributor.author | Kang, Hee jun | - |
dc.contributor.author | Suh, Young soo | - |
dc.contributor.author | Shin, Kyoo Sik | - |
dc.date.accessioned | 2021-06-23T04:45:33Z | - |
dc.date.available | 2021-06-23T04:45:33Z | - |
dc.date.created | 2021-01-22 | - |
dc.date.issued | 2013-08 | - |
dc.identifier.issn | 1738-494X | - |
dc.identifier.uri | https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/29730 | - |
dc.description.abstract | This paper develops a new method to control uncertain robot manipulators by using only position measurements. The controller is designed based on a combination of a computed torque controller (CTC) with a higher-order sliding-mode observer and a fuzzy compensator. First, three higher-order sliding-mode (SM) observers (second-order SM, third-order SM and third-order SM linear (TOSML) observers)are designed and compared to verify whether the TOSML observer is the best for observing velocity and identifying uncertainty. A combined CTC-TOSML controller was then designed. Although this controller scheme can overcome the drawbacks of conventional CTCs, its tracking performance can still be improved. To enhance capability of the tracking performance, a CTC-TOSML controller plus fuzzy compensator called a CTC-TOSML-Fuzzy controller is proposed. The proposed controller increases the potential of the CTC for real robot applications. Finally, computer simulation results on a PUMA560 robot are discussed to verify the effectiveness of the proposed strategy. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | 대한기계학회 | - |
dc.title | Output feedback tracking control of uncertain robot manipulators via higher-order sliding-mode observer and fuzzy compensator | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Shin, Kyoo Sik | - |
dc.identifier.doi | 10.1007/s12206-013-0636-3 | - |
dc.identifier.scopusid | 2-s2.0-84884512252 | - |
dc.identifier.wosid | 000324548300030 | - |
dc.identifier.bibliographicCitation | Journal of Mechanical Science and Technology, v.27, no.8, pp.2487 - 2496 | - |
dc.relation.isPartOf | Journal of Mechanical Science and Technology | - |
dc.citation.title | Journal of Mechanical Science and Technology | - |
dc.citation.volume | 27 | - |
dc.citation.number | 8 | - |
dc.citation.startPage | 2487 | - |
dc.citation.endPage | 2496 | - |
dc.type.rims | ART | - |
dc.identifier.kciid | ART001792515 | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.description.journalRegisteredClass | kci | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalWebOfScienceCategory | Engineering, Mechanical | - |
dc.subject.keywordPlus | Computer simulation | - |
dc.subject.keywordPlus | Flexible manipulators | - |
dc.subject.keywordPlus | Industrial robots | - |
dc.subject.keywordPlus | Modular robots | - |
dc.subject.keywordPlus | Robot applications | - |
dc.subject.keywordPlus | Torque control | - |
dc.subject.keywordAuthor | Computed torque control (CTC) | - |
dc.subject.keywordAuthor | Fuzzy compensator | - |
dc.subject.keywordAuthor | Third-order sliding-mode linear (TOSML) observer | - |
dc.subject.keywordAuthor | Robot manipulators | - |
dc.identifier.url | https://link.springer.com/article/10.1007/s12206-013-0636-3 | - |
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