Full metadata record
DC Field | Value | Language |
---|---|---|
dc.citation.endPage | 189235 | - |
dc.citation.startPage | 189224 | - |
dc.citation.title | IEEE ACCESS | - |
dc.citation.volume | 8 | - |
dc.contributor.author | Ba, Dang Xuan | - |
dc.contributor.author | Bae, Joonbum | - |
dc.date.accessioned | 2023-12-21T16:50:41Z | - |
dc.date.available | 2023-12-21T16:50:41Z | - |
dc.date.created | 2020-10-08 | - |
dc.date.issued | 2020-10 | - |
dc.description.abstract | This article presents a learning robust controller for high-quality position tracking control of robot manipulators. A basic time-delay estimator is adopted to effectively approximate the system dynamics. A low-level control layer is structured from the control error as an indirect control objective using new nonlinear sliding-mode synthetization. To realize the control objective with desired transient time, a robust sliding mode control signal is then designed based on the obtained estimation results in a high-level control layer. To promptly suppress unpredictable disturbances, adaptation ability is integrated to the controller using two-level gain-learning laws. Reaching gains and sliding gain are automatically tuned for asymptotic control performance. Effectiveness of the designed controller is concretely confirmed by the Lyapunov-based stability criterion, comparative simulations, and real-time experiments. | - |
dc.identifier.bibliographicCitation | IEEE ACCESS, v.8, pp.189224 - 189235 | - |
dc.identifier.doi | 10.1109/ACCESS.2020.3032449 | - |
dc.identifier.issn | 2169-3536 | - |
dc.identifier.uri | https://scholarworks.unist.ac.kr/handle/201301/48282 | - |
dc.identifier.url | https://ieeexplore.ieee.org/document/9233324 | - |
dc.identifier.wosid | 000584796900001 | - |
dc.language | 영어 | - |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | - |
dc.title | A Nonlinear Sliding Mode Controller of Serial Robot Manipulators with Two-level Gain-learning Ability | - |
dc.type | Article | - |
dc.description.isOpenAccess | TRUE | - |
dc.relation.journalWebOfScienceCategory | Computer Science, Information Systems; Engineering, Electrical & Electronic; Telecommunications | - |
dc.relation.journalResearchArea | Computer Science; Engineering; Telecommunications | - |
dc.type.docType | Article | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.subject.keywordAuthor | Manipulators | - |
dc.subject.keywordAuthor | gain adaptive control | - |
dc.subject.keywordAuthor | nonlinear sliding mode | - |
dc.subject.keywordAuthor | position control | - |
dc.subject.keywordAuthor | robust adaptive control | - |
dc.subject.keywordAuthor | time-delay estimation | - |
dc.subject.keywordPlus | ADAPTIVE ROBUST-CONTROL | - |
dc.subject.keywordPlus | TIME-DELAY CONTROL | - |
dc.subject.keywordPlus | TRACKING CONTROL | - |
dc.subject.keywordPlus | CONTROL-SYSTEM | - |
dc.subject.keywordPlus | VEHICLES | - |
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