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DC Field | Value | Language |
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dc.citation.endPage | 14 | - |
dc.citation.startPage | 1 | - |
dc.citation.title | IEEE TRANSACTIONS ON CYBERNETICS | - |
dc.contributor.author | Nguyen, Ngo Phong | - |
dc.contributor.author | Oh, Hyondong | - |
dc.contributor.author | Moon, Jun | - |
dc.date.accessioned | 2023-12-21T13:13:21Z | - |
dc.date.available | 2023-12-21T13:13:21Z | - |
dc.date.created | 2022-12-29 | - |
dc.date.issued | 2022-12 | - |
dc.description.abstract | This article proposes finite-time continuous nonsingular terminal modified adaptive-gain super-twisting control (FT-CNT-MAG-STC) for the second-order disturbed systems. Compared with existing sliding-mode controllers, the noteworthy improvements of the proposed framework are the fast finite-time convergence, continuous control signal, ease-of-implementation feature, and relaxation of the assumption related to the information on the bounds of the disturbance and its derivative. In the proposed framework, a fast nonsingular terminal sliding surface is first developed such that the singularity problem is avoided and the convergence rate is improved. Then, we design a continuous modified super-twisting algorithm with an adaptive gain, under which the need for the bounds information of the disturbance and its derivative is relaxed and the performance of the closed-loop system is enhanced. Rigorous analysis is provided to prove the finite-time convergence of the system states to small regions containing the origin. We apply the proposed framework to the position control for a 2-DOF planar robot manipulator system. Various experimental results are illustrated to evaluate the effectiveness of the designed position controller. | - |
dc.identifier.bibliographicCitation | IEEE TRANSACTIONS ON CYBERNETICS, pp.1 - 14 | - |
dc.identifier.doi | 10.1109/tcyb.2022.3226957 | - |
dc.identifier.issn | 2168-2267 | - |
dc.identifier.scopusid | 2-s2.0-85146223105 | - |
dc.identifier.uri | https://scholarworks.unist.ac.kr/handle/201301/60454 | - |
dc.identifier.wosid | 000903480200001 | - |
dc.language | 영어 | - |
dc.publisher | IEEE Advancing Technology for Humanity | - |
dc.title | Finite-Time Continuous Nonsingular Terminal Modified Adaptive-Gain Super-Twisting Control: Application to a 2-DOF Planar Robot Manipulator System | - |
dc.type | Article | - |
dc.description.isOpenAccess | FALSE | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems;Computer Science, Artificial Intelligence;Computer Science, Cybernetics | - |
dc.relation.journalResearchArea | Automation & Control Systems;Computer Science | - |
dc.type.docType | Article | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.subject.keywordAuthor | Adaptive gain | - |
dc.subject.keywordAuthor | finite-time convergence | - |
dc.subject.keywordAuthor | robot manipulator | - |
dc.subject.keywordAuthor | super-twisting algorithm (STA) | - |
dc.subject.keywordAuthor | terminal sliding surface (TSS) | - |
dc.subject.keywordPlus | SLIDING-MODE CONTROL | - |
dc.subject.keywordPlus | FAULT-TOLERANT CONTROL | - |
dc.subject.keywordPlus | ELECTROHYDRAULIC ACTUATOR | - |
dc.subject.keywordPlus | TRACKING CONTROL | - |
dc.subject.keywordPlus | ALGORITHM | - |
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