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http://dx.doi.org/10.5302/J.ICROS.2016.16.0028

Robust Control for Unknown Disturbance of Robotic System Using Prescribed Tracking Error Constraint Control and Finite-Time SMC  

Ryu, Hyun-Jea (Dept. of Computer Eng., Tongmyong University)
Shin, Dong-Suk (Dept. of Computer Eng., Tongmyong University)
Han, Seong-Ik (Dept. of Electronic Eng., Pusan National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.22, no.5, 2016 , pp. 320-325 More about this Journal
Abstract
This paper presents a robust finite-time sliding mode control (SMC) scheme for unknown disturbance and unmodeled nonlinear friction and dynamics in the robotic manipulator. A finite-time SMC (FSMC) surface and finite-time sliding mode controller are constructed to obtain faster error convergence than the conventional infinite-time based SMC. By adding prescribed constraint control term to a finite-time SMC to compensate for unknown disturbance and uncertainties, a robust control scheme can be designed as well as faster convergence control. In addition, simpler controller structure is built by using feed-forwarding upper bound coefficients of each manipulator dynamic parameters instead of model-based control or adaptive observer to estimate unknown manipulator parameters. Simulation and experimental evaluations highlight the efficacy of the proposed control scheme for an articulated robotic manipulator.
Keywords
SMC; finite-time SMC; prescribed constraint control; disturbance rejection; robot manipulator;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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