IEMEK Journal of Embedded Systems and Applications (대한임베디드공학회논문지)

Institute of Embedded Engineering of Korea (대한임베디드공학회)
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Adaptive Time-delayed Control with Integral Sliding-mode Surface for Fast Convergence Rate of Robot Manipulator

로봇 머니퓰레이터에서의 수렴속도 향상을 위한 적분 슬라이딩 모드 기반 적응 시간 제어 기법

  • Received : 2021.10.11
  • Accepted : 2021.11.29
  • Published : 2021.12.31
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Abstract

This paper proposes an adaptive time-delayed control approach with the integral sliding-mode surface for the fast convergence rate of robot manipulators. Adaptive switching gain aims to guarantee the system stability in such a way as to suppress time-delayed estimation error in the proposed control approach. Moreover, it makes an effort to increase the convergence ability in reaching the phase. An integral sliding-mode surface is employed to achieve a fast convergence rate in the sliding phase. The stability of the proposed one is proved to be asymptotically stable in the Lyapunov stability. The efficiency of the proposed control approach is illustrated with a tutorial example in robot manipulator, which is compared to that of the existing control approach.

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Acknowledgement

이 논문은 2021년도 정부 (교육부)의 재원으로 한국연구재단의 지원을 받아 수행된 기초연구사업임 (No. 2021R1I1A3059648).

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