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Adaptive Integral Sliding Mode Control With Time-Delay Estimation for Robot Manipulators

Title
Adaptive Integral Sliding Mode Control With Time-Delay Estimation for Robot Manipulators
Authors
Lee, JunyoungChang, Pyung HunJin, Maolin
DGIST Authors
Lee, Junyoung
Issue Date
2017-08
Citation
Ieee Transactions on Industrial Electronics, 64(8), 6796-6804
Type
Article
Article Type
Article
Keywords
ActuatorAdaptive Integral Sliding Mode Control (AISMC)AlgorithmDesignFuzzy ControllersIntegral Sliding Surface (ISS)OptimizationRobot ManipulatorsSurfacesSynchronizationSystemsTime Delay Estimation (TDE)Tracking Control
ISSN
0278-0046
Abstract
This paper presents an adaptive robust controller for robot manipulators using adaptive integral sliding mode control and time-delay estimation (TDE). The proposed controller employs TDE to estimate robot dynamics with uncertainties such as parameter variations and disturbances, an integral sliding surface to eliminate the reaching phase together with the noise-sensitive switching action used in the conventional sliding mode control, and adaptation gain dynamics to achieve the applicable high accuracy. Experimental studies using a programmable universal machine for assembly-type industrial robot manipulator are conducted to verify the effectiveness of the proposed control. The proposed controller is robust, chattering free, and highly accurate.
URI
http://hdl.handle.net/20.500.11750/4126
DOI
10.1109/TIE.2017.2698416
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Files:
There are no files associated with this item.
Collection:
Robotics EngineeringRehabilitation Robotics Lab1. Journal Articles


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