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탄성 케이블로 구동되는 조작기 링크의 외란 관측기 기반 슬라이딩모드 제어

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dc.contributor.author강민식-
dc.date.available2020-02-29T07:47:16Z-
dc.date.created2020-02-12-
dc.date.issued2012-
dc.identifier.issn1598-2785-
dc.identifier.urihttps://scholarworks.bwise.kr/gachon/handle/2020.sw.gachon/17022-
dc.description.abstractPosition 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.language한국어-
dc.language.isoko-
dc.publisher한국소음진동공학회-
dc.relation.isPartOf한국소음진동공학회논문집-
dc.title탄성 케이블로 구동되는 조작기 링크의 외란 관측기 기반 슬라이딩모드 제어-
dc.title.alternativeDisturbance Observer Based Sliding Mode Control for Link of Manipulator Driven by Elastic Cable-
dc.typeArticle-
dc.type.rimsART-
dc.description.journalClass2-
dc.identifier.doi10.5050/KSNVE.2012.22.10.949-
dc.identifier.bibliographicCitation한국소음진동공학회논문집, v.22, no.10, pp.949 - 958-
dc.identifier.kciidART001705376-
dc.citation.endPage958-
dc.citation.startPage949-
dc.citation.title한국소음진동공학회논문집-
dc.citation.volume22-
dc.citation.number10-
dc.contributor.affiliatedAuthor강민식-
dc.subject.keywordAuthorManipulator(조작기)-
dc.subject.keywordAuthorLink(링크)-
dc.subject.keywordAuthorElastic Cable(탄성 케이블)-
dc.subject.keywordAuthorTwo-mass-system(이질량계)-
dc.subject.keywordAuthorSliding Mode Control(슬라이딩모드제어)-
dc.subject.keywordAuthorDisturbance Observer(외란 관측기)-
dc.description.journalRegisteredClasskci-
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