Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 신규식 | - |
dc.date.accessioned | 2023-07-17T01:46:25Z | - |
dc.date.available | 2023-07-17T01:46:25Z | - |
dc.date.issued | 2013-08 | - |
dc.identifier.citation | Journal of Mechanical Science and Technology, v. 27, NO. 8, Page. 2487-2496 | - |
dc.identifier.issn | 1738-494X;1976-3824 | - |
dc.identifier.uri | https://link.springer.com/article/10.1007/s12206-013-0636-3 | en_US |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/183837 | - |
dc.description.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. | - |
dc.description.sponsorship | Ministry of Knowledge Economy | - |
dc.language | en | - |
dc.publisher | 대한기계학회 | - |
dc.subject | Computed torque control (CTC) | - |
dc.subject | Fuzzy compensator | - |
dc.subject | Third-order sliding-mode linear (TOSML) observer | - |
dc.subject | Robot manipulators | - |
dc.title | Output feedback tracking control of uncertain robot manipulators via higher-order sliding-mode observer and fuzzy compensator | - |
dc.type | Article | - |
dc.relation.no | 8 | - |
dc.relation.volume | 27 | - |
dc.identifier.doi | 10.1007/s12206-013-0636-3 | - |
dc.relation.page | 2487-2496 | - |
dc.relation.journal | Journal of Mechanical Science and Technology | - |
dc.contributor.googleauthor | Van, Mien | - |
dc.contributor.googleauthor | Kang, Hee jun | - |
dc.contributor.googleauthor | Suh, Young soo | - |
dc.contributor.googleauthor | Shin, Kyoo Sik | - |
dc.sector.campus | E | - |
dc.sector.daehak | 공학대학 | - |
dc.sector.department | 로봇공학과 | - |
dc.identifier.pid | norwalk87 | - |
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