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DC Field | Value | Language |
---|---|---|
dc.citation.endPage | 30 | - |
dc.citation.number | 1 | - |
dc.citation.startPage | 23 | - |
dc.citation.title | INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING | - |
dc.citation.volume | 19 | - |
dc.contributor.author | Ba, Dang Xuan | - |
dc.contributor.author | Ahn, Kyoung Kwan | - |
dc.date.accessioned | 2023-12-21T21:14:05Z | - |
dc.date.available | 2023-12-21T21:14:05Z | - |
dc.date.created | 2018-02-06 | - |
dc.date.issued | 2018-01 | - |
dc.description.abstract | In this paper, we present an effective position tracking control approach based on robust time-delay nonlinear (RTN) technique for a pneumatic artificial muscle (PAM) system. Due to the existence of uncertain, unknown, and highly nonlinear terms in the system dynamics, providing a high-accuracy controller is a challenging work. By dealing with this problem, the control strategy is as follows: first, to actively compensate for the total system dynamics with the reduction of setup cost and computational burden, a time-delay estimator is employed; to overcome the estimation error and to maintain an asymptotic control performance, robust linear and nonlinear compensators are next proposed under sliding mode scheme; convergence of the closed loop system is then confirmed by Lyapunov-based theoretical proof. Effectiveness and feasibility of the designed controller were successfully verified on a real-time PAM system under different working conditions. | - |
dc.identifier.bibliographicCitation | INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING, v.19, no.1, pp.23 - 30 | - |
dc.identifier.doi | 10.1007/s12541-018-0003-5 | - |
dc.identifier.issn | 2234-7593 | - |
dc.identifier.scopusid | 2-s2.0-85040376417 | - |
dc.identifier.uri | https://scholarworks.unist.ac.kr/handle/201301/23396 | - |
dc.identifier.url | https://link.springer.com/article/10.1007%2Fs12541-018-0003-5 | - |
dc.identifier.wosid | 000419710800003 | - |
dc.language | 영어 | - |
dc.publisher | KOREAN SOC PRECISION ENG | - |
dc.title | A robust time-delay nonlinear controller for a pneumatic artificial muscle | - |
dc.type | Article | - |
dc.description.isOpenAccess | FALSE | - |
dc.relation.journalWebOfScienceCategory | Engineering, Manufacturing; Engineering, Mechanical | - |
dc.identifier.kciid | ART002305486 | - |
dc.relation.journalResearchArea | Engineering | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.description.journalRegisteredClass | kci | - |
dc.subject.keywordAuthor | Pneumatic artificial muscle | - |
dc.subject.keywordAuthor | Sliding mode control | - |
dc.subject.keywordAuthor | Nonlinear control | - |
dc.subject.keywordAuthor | Time-delay control | - |
dc.subject.keywordPlus | PARALLEL MANIPULATOR DRIVEN | - |
dc.subject.keywordPlus | SLIDING-MODE CONTROL | - |
dc.subject.keywordPlus | ROBOT ARM | - |
dc.subject.keywordPlus | TRACKING CONTROL | - |
dc.subject.keywordPlus | NEURAL-NETWORK | - |
dc.subject.keywordPlus | PID CONTROL | - |
dc.subject.keywordPlus | ACTUATORS | - |
dc.subject.keywordPlus | SYSTEM | - |
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