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초록
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.
키워드
Finite-time stability; Lyapunov stability analysis; Robot manipulator; Robust differentiator; Second order sliding mode control
- 제목
- 모델 불확실성과 외란을 고려한 로봇 매니퓰레이터의 채터링이 없는 2차 슬라이딩 모드 기반 유한-시간 제어
- 제목 (타언어)
- Chattering-free second order sliding mode based finite-time control of a robot manipulator considering uncertainty and disturbance
- 저자
- Yoon, Yook Hyun; You, Jae Min; Park, Jahng Hyon
- 발행일
- 2018-04
- 유형
- Article
- 저널명
- 한국정밀공학회지
- 권
- 35
- 호
- 4
- 페이지
- 421 ~ 426