Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Robust Control for Unknown Disturbance of Robotic System Using Prescribed Tracking Error Constraint Control and Finite-Time SMC

규정된 추종오차 구속제어와 유한시간 슬라이딩 모드 제어를 이용한 로봇시스템의 미지의 외란에 대한 강인제어

  • 류현제 (동명대학교 컴퓨터공학과) ;
  • 신동석 (동명대학교 컴퓨터공학과) ;
  • 한성익 (부산대학교 전자공학과)
  • Received : 2016.02.10
  • Accepted : 2016.03.15
  • Published : 2016.05.01
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Abstract

This paper presents a robust finite-time sliding mode control (SMC) scheme for unknown disturbance and unmodeled nonlinear friction and dynamics in the robotic manipulator. A finite-time SMC (FSMC) surface and finite-time sliding mode controller are constructed to obtain faster error convergence than the conventional infinite-time based SMC. By adding prescribed constraint control term to a finite-time SMC to compensate for unknown disturbance and uncertainties, a robust control scheme can be designed as well as faster convergence control. In addition, simpler controller structure is built by using feed-forwarding upper bound coefficients of each manipulator dynamic parameters instead of model-based control or adaptive observer to estimate unknown manipulator parameters. Simulation and experimental evaluations highlight the efficacy of the proposed control scheme for an articulated robotic manipulator.

Keywords

References

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