Journal of Advanced Marine Engineering and Technology

  • 제29권8호
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  • Pages.842-848
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  • 2005
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  • 2234-7925(pISSN)
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  • 2234-8352(eISSN)
한국마린엔지니어링학회 (The Korean Society of Marine Engineering)
권호 표지

비 간섭 슬라이딩 모드 기법을 이용한 로봇 매니퓰레이터의 궤도제어

Trajectory control of a manipulator by the decoupling sliding mode method

  • 남택근 (목포해양대학교 기관시스템공학부)
  • 발행 : 2005.11.01
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초록

The decoupling control using state feedback was once intensively studied during 1960's by many researchers. However, this control scheme was sensitive to the disturbance and Parameter variations. SMC(sliding mode control) is known as a robust control methodology to overcome such a disturbance. In this paper. the decoupling control by means of SM(sliding mode) for a trajectory control of a two-degrees-of- freedom manipulator was discussed. The position and velocity of manipulator tip were adopted to compose a nonlinear error functions. The reference inputs of the controller can be decided by switching function combined with the desired position and velocity. Simulation result is provided to verify the effectiveness of the proposed control scheme.

키워드

참고문헌

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