대한임베디드공학회논문지 (IEMEK Journal of Embedded Systems and Applications)

대한임베디드공학회 (Institute of Embedded Engineering of Korea)
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로봇 매니퓰레이터에 적용을 위한 유한한 시간 적응 비특이 터미널 슬라이딩 모드 제어 기법

Finite-time Adaptive Non-singular Terminal Sliding-mode Control for Robot Manipulator

  • 투고 : 2021.07.15
  • 심사 : 2021.07.20
  • 발행 : 2021.08.31
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초록

We propose an adaptive non-singular terminal sliding-mode control for the fast finite-time convergence (FANTSMC) in robot manipulator. The proposed FANTSMC approach is developed to be applied without singularity in robot manipulator, which has a new pole-placement control with the non-singular terminal sliding variable while generating the desirable control torque. Moreover, the switching gain is designed to suppress the time-delayed estimation error appropriately, which aims at providing the high robust tracking performance. Also, the proposed one employs one-sample delayed information to cancel out the system uncertainties and disturbances. For these reasons, it offers strong attraction within the finite time. It is shown that the tracking performance of the proposed FANTSMC approach is guaranteed to be uniformly ultimately bounded through the Lyapunov stability. The effectiveness of the proposed FANTSMC approach is illustrated in simulations, which is compared with that of the up-to-date control approach.

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과제정보

이 논문은 2021년도 강릉원주대학교 학술연구조성비 및 2021년도 정부(교육부)의 재원으로 한국연구재단의 지원을 받아 수행된 기초연구사업임(No. 2021R1I1A3059648).

참고문헌

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