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모델 불확실성과 외란을 고려한 로봇 매니퓰레이터의 채터링이 없는 2차 슬라이딩 모드 기반 유한-시간 제어open accessChattering-free second order sliding mode based finite-time control of a robot manipulator considering uncertainty and disturbance
- Other Titles
- Chattering-free second order sliding mode based finite-time control of a robot manipulator considering uncertainty and disturbance
- Authors
- Yoon, Yook Hyun; You, Jae Min; Park, Jahng Hyon
- Issue Date
- Apr-2018
- Publisher
- Korean Society for Precision Engineeing
- Keywords
- Finite-time stability; Lyapunov stability analysis; Robot manipulator; Robust differentiator; Second order sliding mode control
- Citation
- Journal of the Korean Society for Precision Engineering, v.35, no.4, pp.421 - 426
- Indexed
- SCOPUS
KCI
- Volume
- 35
- Number
- 4
- Start Page
- 421
- End Page
- 426
- ISSN
- 1225-9071
- Abstract
- This paper presents a finite-time tracking control for a robot manipulator in the presence of a modeling uncertainty and an external disturbance. To solve the large chattering phenomenon that is caused by the high switching gain of the slidingmode control, a novel second-order sliding-mode controller that generates a continuous control input is designed with a robust differentiator. The finite-time stability of the closed-loop system is ensured using a constructive Lyapunov-stability analysis. Finally, a numerical simulation of the 2-Axis Pan-Tilt system is performed to verify the effectiveness of the proposed controller.
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Related Researcher
- Park, Jahng Hyon
- COLLEGE OF ENGINEERING (DEPARTMENT OF AUTOMOTIVE ENGINEERING)