대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2000년도 하계학술대회 논문집 D
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- Pages.2898-2900
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- 2000
로봇 매니퓰레이터에서 바운드 예측을 갖는 슬라이딩 모드 제어기 설계
A Sliding Mode Controller with Bound Estimation for Robot Manipulator
- Lee, Chang-Min (Pusan National Univ.) ;
- Yun, Won-Sik (Pusan National Univ.) ;
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Park, Sung-Jun
(Dong-myung college)
;
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Kim, Cheul-U
(Pusan National Univ.)
- 발행 : 2000.07.17
초록
A sliding mode control algorithm combined with an adaptive scheme, which is used to estimate the unknown parameter bounds. is developed for the trajectory control of robot manipulators. Simulated results show the validity to accurate tracking capability and robust performance.
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