비 간섭 슬라이딩 모드 기법을 이용한 로봇 매니퓰레이터의 궤도제어
Trajectory control of a manipulator by the decoupling sliding mode method
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Abstract
The decoupling control using state feedback was once intensively studied during 1960's by many researchers. However, this control scheme was sensitive to the disturbance and parameter variations. SMC(sliding mode control) is known as a robust control methodology to overcome such a disturbance. In this paper, the decoupling control by means of SM(sliding mode) for a trajectory control of a two-degrees-of- freedom manipulator was discussed. The position and velocity of manipulator tip were adopted to compose a nonlinear error functions. The reference inputs of the controller can be decided by switching function combined with the desired position and velocity. Simulation result is provided to verify the effectiveness of the proposed control scheme.
참고문헌 (7)
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