대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1990년도 추계학술대회 논문집 학회본부
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- Pages.391-395
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- 1990
시변 스위칭 평면을 이용한 로보트 매니퓰레이터의 견실한 제어기의 설계
A Robust Controller Design for Manipulators using Time-Varying Sliding Manifolds
- Park, Gwi-Tae (Department of Electrical Engineering Korea University) ;
- Kim, Dong-Sik (Department of Electrical Engineering Korea University) ;
- Lim, Sung-Jun (Department of Electrical Engineering Korea University)
- 발행 : 1990.11.17
초록
A new control algorithm is developed to achieve the robust performance of the system during the overall control process. Time-varying sliding manifolds are proposed to remove the reaching phase which is one of common shortcomings of variable structure control scheme. A necessary and sufficient condition for the existence of a sliding mode on the newly proposed time-varying sliding mode on the newly proposed time-varying sliding manifolds is derived by Lyapunov's second method. The digital simulation results show that the newly proposed control algorithm is superior to the typical variable structure control algorithm with respect to the robust performance of the system. The simplicity of the proposed control algorithm encourages control engineers to implement the proposed control algorithm in many control problems.
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