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dc.contributor.author Lee, Jun Young ko
dc.contributor.author Chang, Pyung Hun ko
dc.contributor.author Jin, Maolin ko
dc.date.available 2017-08-10T08:09:39Z -
dc.date.created 2017-08-09 -
dc.date.issued 2017-08 -
dc.identifier.citation Ieee Transactions on Industrial Electronics, v.64, no.8, pp.6796 - 6804 -
dc.identifier.issn 0278-0046 -
dc.identifier.uri http://hdl.handle.net/20.500.11750/4126 -
dc.description.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. -
dc.publisher IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC -
dc.title Adaptive Integral Sliding Mode Control With Time-Delay Estimation for Robot Manipulators -
dc.type Article -
dc.identifier.doi 10.1109/TIE.2017.2698416 -
dc.identifier.wosid 000405172300076 -
dc.identifier.scopusid 2-s2.0-85029360852 -
dc.type.local Article(Overseas) -
dc.type.rims ART -
dc.description.journalClass 1 -
dc.contributor.nonIdAuthor Jin, Maolin -
dc.identifier.citationVolume 64 -
dc.identifier.citationNumber 8 -
dc.identifier.citationStartPage 6796 -
dc.identifier.citationEndPage 6804 -
dc.identifier.citationTitle Ieee Transactions on Industrial Electronics -
dc.type.journalArticle Article -
dc.description.isOpenAccess N -
dc.subject.keywordPlus Actuator -
dc.subject.keywordPlus Adaptive Integral Sliding Mode Control (AISMC) -
dc.subject.keywordPlus Algorithm -
dc.subject.keywordPlus Design -
dc.subject.keywordPlus Fuzzy Controllers -
dc.subject.keywordPlus Integral Sliding Surface (ISS) -
dc.subject.keywordPlus Optimization -
dc.subject.keywordPlus Robot Manipulators -
dc.subject.keywordPlus Surfaces -
dc.subject.keywordPlus Synchronization -
dc.subject.keywordPlus Systems -
dc.subject.keywordPlus Time Delay Estimation (TDE) -
dc.subject.keywordPlus Tracking Control -
dc.contributor.affiliatedAuthor Chang, Pyung Hun -

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