모델 불확실성과 외란을 고려한 로봇 매니퓰레이터의 채터링이 없는 2차 슬라이딩 모드 기반 유한-시간 제어
DC Field | Value | Language |
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dc.contributor.author | Yoon, Yook Hyun | - |
dc.contributor.author | You, Jae Min | - |
dc.contributor.author | Park, Jahng Hyon | - |
dc.date.accessioned | 2021-07-30T05:24:41Z | - |
dc.date.available | 2021-07-30T05:24:41Z | - |
dc.date.created | 2021-05-13 | - |
dc.date.issued | 2018-04 | - |
dc.identifier.issn | 1225-9071 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/4716 | - |
dc.description.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. | - |
dc.language | 한국어 | - |
dc.language.iso | ko | - |
dc.publisher | Korean Society for Precision Engineeing | - |
dc.title | 모델 불확실성과 외란을 고려한 로봇 매니퓰레이터의 채터링이 없는 2차 슬라이딩 모드 기반 유한-시간 제어 | - |
dc.title.alternative | Chattering-free second order sliding mode based finite-time control of a robot manipulator considering uncertainty and disturbance | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Park, Jahng Hyon | - |
dc.identifier.doi | 10.7736/KSPE.2018.35.4.421 | - |
dc.identifier.scopusid | 2-s2.0-85045091285 | - |
dc.identifier.bibliographicCitation | Journal of the Korean Society for Precision Engineering, v.35, no.4, pp.421 - 426 | - |
dc.relation.isPartOf | Journal of the Korean Society for Precision Engineering | - |
dc.citation.title | Journal of the Korean Society for Precision Engineering | - |
dc.citation.volume | 35 | - |
dc.citation.number | 4 | - |
dc.citation.startPage | 421 | - |
dc.citation.endPage | 426 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.identifier.kciid | ART002334777 | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | Y | - |
dc.description.journalRegisteredClass | scopus | - |
dc.description.journalRegisteredClass | kci | - |
dc.subject.keywordAuthor | Finite-time stability | - |
dc.subject.keywordAuthor | Lyapunov stability analysis | - |
dc.subject.keywordAuthor | Robot manipulator | - |
dc.subject.keywordAuthor | Robust differentiator | - |
dc.subject.keywordAuthor | Second order sliding mode control | - |
dc.identifier.url | https://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE07409581&language=ko_KR&hasTopBanner=true | - |
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