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The Korean Institute of Electrical Engineers (대한전기학회)
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An Improved Integral Sliding Mode Controller for Regulation Control of Robot Manipulators

로봇 메니플레이터의 레귤레이션 제어를 위한 개선된 적분 슬라이딩 모드 제어기

  • Lee, Jung-Hoon (ERI, Dept. of Control & Instrum. Eng. Gyeongsang Nat'l University)
  • Received : 2017.07.13
  • Accepted : 2017.12.18
  • Published : 2018.01.01
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Abstract

In this paper, an improved integral variable structure regulation controller is designed by using a special integral sliding surface and a disturbance observer for the improved regulation control of highly nonlinear rigid robot manipulators with prescribed output performance. The sliding surface having the integral state with a special initial condition is employed in this paper to exactly predetermine the ideal sliding trajectory from a given initial condition to the desired reference without any reaching phase. And a continuous sliding mode input using the disturbance observer is also introduced in order to effectively follow the predetermined sliding trajectory within the prescribed accuracy without large computation burden. The performance of the prescribed tracking accuracy to the predetermined sliding trajectory is clearly investigated in detail through the two theorems, together with the closed loop stability. The design of the proposed regulation controller is separated into the performance design and robustness design in each independent link. The usefulness of the algorithm has been demonstrated through simulation studies on the regulation control of a two-link robot under parameter uncertainties and payload variations.

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References

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