지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- Korean Institute of Information Scientists and Engineers Journal of Electrical Engineering and Information Science Journal of Electrical Engineering and Information Science Vol.3 No.1
- 발행연도
- 1998.2
- 수록면
- 36 - 44 (9page)
이용수
초록· 키워드
오류제보하기
In this paper, a robust adaptive sliding mode control algorithm for accurate trajectory tracking of robot manipulators is proposed, with unknown parameters being estimated on-line. The controller is designed based on a Lyapunov method, which consists of a adaptive feed-forward compensation part and a discontinuous control part. It is shown that, in the presence of the uncertainty and the disturbances arising from the actuator or some other causes, the tracking errors is bound to converge to zero asymptotically. An illustrative example is given to demonstrate the results of the proposed method.
목차
Abstract
Ⅰ. Introduction
Ⅱ. Dynamic model of robot manipulators
Ⅲ. Robust adaptive sliding mode controller
Ⅳ. Elimination of chattering
Ⅴ. Simulation
Ⅵ. Conclusion
References
저자소개
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UCI(KEPA) : I410-ECN-0101-2009-569-017765641