Output feedback tracking control of uncertain robot manipulators via higher-order sliding-mode observer and fuzzy compensator
- Title
- Output feedback tracking control of uncertain robot manipulators via higher-order sliding-mode observer and fuzzy compensator
- Author
- 신규식
- Keywords
- Computed torque control (CTC); Fuzzy compensator; Third-order sliding-mode linear (TOSML) observer; Robot manipulators
- Issue Date
- 2013-08
- Publisher
- 대한기계학회
- Citation
- Journal of Mechanical Science and Technology, v. 27, NO. 8, Page. 2487-2496
- Abstract
- This paper develops a new method to control uncertain robot manipulators by using only position measurements. The controller is designed based on a combination of a computed torque controller (CTC) with a higher-order sliding-mode observer and a fuzzy compensator.
First, three higher-order sliding-mode (SM) observers (second-order SM, third-order SM and third-order SM linear (TOSML) observers)are designed and compared to verify whether the TOSML observer is the best for observing velocity and identifying uncertainty.
A combined CTC-TOSML controller was then designed. Although this controller scheme can overcome the drawbacks of conventional CTCs, its tracking performance can still be improved. To enhance capability of the tracking performance, a CTC-TOSML controller plus fuzzy compensator called a CTC-TOSML-Fuzzy controller is proposed. The proposed controller increases the potential of the CTC for real robot applications. Finally, computer simulation results on a PUMA560 robot are discussed to verify the effectiveness of the proposed strategy.
- URI
- https://link.springer.com/article/10.1007/s12206-013-0636-3https://repository.hanyang.ac.kr/handle/20.500.11754/183837
- ISSN
- 1738-494X;1976-3824
- DOI
- 10.1007/s12206-013-0636-3
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
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