로봇 머니퓰레이터에서의 수렴속도 향상을 위한 적분 슬라이딩 모드 기반 적응 시간 제어 기법
Adaptive Time-delayed Control with Integral Sliding-mode Surface for Fast Convergence Rate of Robot Manipulator
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초록
This paper proposes an adaptive time-delayed control approach with the integral sliding-mode surface for the fast convergence rate of robot manipulators. Adaptive switching gain aims to guarantee the system stability in such a way as to suppress time-delayed estimation error in the proposed control approach. Moreover, it makes an effort to increase the convergence ability in reaching the phase. An integral sliding-mode surface is employed to achieve a fast convergence rate in the sliding phase. The stability of the proposed one is proved to be asymptotically stable in the Lyapunov stability. The efficiency of the proposed control approach is illustrated with a tutorial example in robot manipulator, which is compared to that of the existing control approach.
Abstract
This paper proposes an adaptive time-delayed control approach with the integral sliding-mode surface for the fast convergence rate of robot manipulators. Adaptive switching gain aims to guarantee the system stability in such a way as to suppress time-delayed estimation error in the proposed control approach. Moreover, it makes an effort to increase the convergence ability in reaching the phase. An integral sliding-mode surface is employed to achieve a fast convergence rate in the sliding phase. The stability of the proposed one is proved to be asymptotically stable in the Lyapunov stability. The efficiency of the proposed control approach is illustrated with a tutorial example in robot manipulator, which is compared to that of the existing control approach.
참고문헌 (19)
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