탄성 케이블로 구동되는 조작기 링크의 외란 관측기 기반 슬라이딩모드 제어
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 강민식 | - |
dc.date.available | 2020-02-29T07:47:16Z | - |
dc.date.created | 2020-02-12 | - |
dc.date.issued | 2012 | - |
dc.identifier.issn | 1598-2785 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/gachon/handle/2020.sw.gachon/17022 | - |
dc.description.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. | - |
dc.language | 한국어 | - |
dc.language.iso | ko | - |
dc.publisher | 한국소음진동공학회 | - |
dc.relation.isPartOf | 한국소음진동공학회논문집 | - |
dc.title | 탄성 케이블로 구동되는 조작기 링크의 외란 관측기 기반 슬라이딩모드 제어 | - |
dc.title.alternative | Disturbance Observer Based Sliding Mode Control for Link of Manipulator Driven by Elastic Cable | - |
dc.type | Article | - |
dc.type.rims | ART | - |
dc.description.journalClass | 2 | - |
dc.identifier.doi | 10.5050/KSNVE.2012.22.10.949 | - |
dc.identifier.bibliographicCitation | 한국소음진동공학회논문집, v.22, no.10, pp.949 - 958 | - |
dc.identifier.kciid | ART001705376 | - |
dc.citation.endPage | 958 | - |
dc.citation.startPage | 949 | - |
dc.citation.title | 한국소음진동공학회논문집 | - |
dc.citation.volume | 22 | - |
dc.citation.number | 10 | - |
dc.contributor.affiliatedAuthor | 강민식 | - |
dc.subject.keywordAuthor | Manipulator(조작기) | - |
dc.subject.keywordAuthor | Link(링크) | - |
dc.subject.keywordAuthor | Elastic Cable(탄성 케이블) | - |
dc.subject.keywordAuthor | Two-mass-system(이질량계) | - |
dc.subject.keywordAuthor | Sliding Mode Control(슬라이딩모드제어) | - |
dc.subject.keywordAuthor | Disturbance Observer(외란 관측기) | - |
dc.description.journalRegisteredClass | kci | - |
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