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Robust Control for Unknown Disturbance of Robotic System Using Prescribed Tracking Error Constraint Control and Finite-Time SMC
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 Title & Authors
Robust Control for Unknown Disturbance of Robotic System Using Prescribed Tracking Error Constraint Control and Finite-Time SMC
Ryu, Hyun-Jea; Shin, Dong-Suk; Han, Seong-Ik;
 
 Abstract
This paper presents a robust finite-time sliding mode control (SMC) scheme for unknown disturbance and unmodeled nonlinear friction and dynamics in the robotic manipulator. A finite-time SMC (FSMC) surface and finite-time sliding mode controller are constructed to obtain faster error convergence than the conventional infinite-time based SMC. By adding prescribed constraint control term to a finite-time SMC to compensate for unknown disturbance and uncertainties, a robust control scheme can be designed as well as faster convergence control. In addition, simpler controller structure is built by using feed-forwarding upper bound coefficients of each manipulator dynamic parameters instead of model-based control or adaptive observer to estimate unknown manipulator parameters. Simulation and experimental evaluations highlight the efficacy of the proposed control scheme for an articulated robotic manipulator.
 Keywords
SMC;finite-time SMC;prescribed constraint control;disturbance rejection;robot manipulator;
 Language
Korean
 Cited by
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