탄성 케이블로 구동되는 조작기 링크의 외란 관측기 기반 슬라이딩모드 제어Disturbance Observer Based Sliding Mode Control for Link of Manipulator Driven by Elastic Cable
- Other Titles
- Disturbance Observer Based Sliding Mode Control for Link of Manipulator Driven by Elastic Cable
- Authors
- 강민식
- Issue Date
- 2012
- Publisher
- 한국소음진동공학회
- Keywords
- Manipulator(조작기); Link(링크); Elastic Cable(탄성 케이블); Two-mass-system(이질량계); Sliding Mode Control(슬라이딩모드제어); Disturbance Observer(외란 관측기)
- Citation
- 한국소음진동공학회논문집, v.22, no.10, pp.949 - 958
- Journal Title
- 한국소음진동공학회논문집
- Volume
- 22
- Number
- 10
- Start Page
- 949
- End Page
- 958
- URI
- https://scholarworks.bwise.kr/gachon/handle/2020.sw.gachon/17022
- DOI
- 10.5050/KSNVE.2012.22.10.949
- ISSN
- 1598-2785
- Abstract
- Position tracking control of a link of a slave manipulator which needed to track the corresponding link of a master manipulator was addressed in this paper. Since driving torque from motor is transmitted through a set of flexible cable to link, the motion control system is modeled by a two-mass model connected with elastic coupling which has finite stiffness. Relative vibration of two-mass resonant system is a serious problem to operate manipulator. This paper proposed sliding mode control to reduce resonant vibration and fine position tracking control. Also, a pseudo-sliding mode control which uses a saturation function instead of a signum function was discussed and showed that the pseudo-sliding mode control can improve disturbance regulation performance as well as guarantees fine command tracking without chattering which is an inherent drawback of basic sliding mode control. In addition, a disturbance observer based sliding mode control has been suggested to improve disturbance regulation performance. The feasibility of the proposed control design was verified along with some simulation results.
- Files in This Item
- There are no files associated with this item.
- Appears in
Collections - 공과대학 > 기계공학과 > 1. Journal Articles
![qrcode](https://api.qrserver.com/v1/create-qr-code/?size=55x55&data=https://scholarworks.bwise.kr/gachon/handle/2020.sw.gachon/17022)
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.