Journal of the Korean Institute of Illuminating and Electrical Installation Engineers (조명전기설비학회논문지)

The Korean Institute of IIIuminating and Electrical Installation Engineers (한국조명전기설비학회)
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Sliding Mode Control with Bound Estimation for Robot Manipulators

경계 추정치를 가진 로봇 슬라이딩 모드 제어

  • 유동상 (한경대학교 전기공학과/전자기술종합연구소)
  • Published : 2006.09.30
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Abstract

In this paper, we propose a sliding mode control with the bound estimation for robot manipulators without requiring exact knowledge of the robot dynamics. For the bound estimation, the upper bound of the uncertain nonlinearities of robot dynamics is represented as a Fredholm integral equation of the first kind and we propose an adaptive scheme which is only dependent on the sliding surface function. Also, we prove the asymptotic stability for the robot systems using two important properties in the robot dynamics: skew-symmetry and positive-definiteness of robot parameters.

본 논문에서는 로봇의 동력학에 대한 정확한 지식을 요구하지 않는 로봇 머니퓰레이터를 위한 경계 추정기법을 가진 슬라이딩 모드 제어기를 제안한다. 경계 추정을 위해 로봇 동력학의 불확실한 비선형 요소들의 경계치를 제 1종의 Fredholm 적분식을 이용하여 표현하고, 슬라이딩 평면 함수값만을 이용한 적응 기법을 제안한다. 또한 로봇 동력학의 중요한 두가지 특성인 왜대칭성과 양정치성을 이용하여 로봇 시스템의 점근적 안정성을 증명한다.

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References

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