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dc.contributor.author Jin, Maolin -
dc.contributor.author Kang, Sang Hoon -
dc.contributor.author Chang, Pyung Hun -
dc.contributor.author Lee, Jinoh -
dc.date.available 2017-08-10T08:19:11Z -
dc.date.created 2017-08-09 -
dc.date.issued 2017-10 -
dc.identifier.citation IEEE/ASME Transactions on Mechatronics, v.22, no.5, pp.2141 - 2152 -
dc.identifier.issn 1083-4435 -
dc.identifier.uri http://hdl.handle.net/20.500.11750/4267 -
dc.description.abstract Thanks to its simplicity and robustness, time delay control (TDC) has been recognized as a simple and yet effective alternative to robot model-based controls and/or intelligent controls. An inclusive and enhanced formulation of TDC for robust control of robot manipulators is presented in this paper. The proposed formulation consists of three intuitive terms: 1) time delay estimation (TDE), inherited from the original TDC, for cancellation of mostly continuous nonlinearities; 2) nonlinear desired error dynamics (DED) (i.e., a 'mass'-'nonlinear damper'-'nonlinear spring' system) injection term; and 3) a TDE error correction term based on a nonlinear sliding surface. The proposed TDC formulation has an inclusive structure. Depending on the gain/parameter set chosen, the proposed formulation can become Hsia's formulation, Jin's formulations including a type of terminal sliding mode control (SMC), an SMC with a switching signum function, or a novel enhanced formulation. Experimental comparisons were made using a programmable universal manipulator for assembly-type robot manipulator with various parameter sets for the proposed control. Among them, the highest position tracking accuracy was obtained by using a terminal sliding DED with a terminal sliding correction term. © 1996-2012 IEEE. -
dc.language English -
dc.publisher Institute of Electrical and Electronics Engineers Inc. -
dc.title Robust Control of Robot Manipulators Using Inclusive and Enhanced Time Delay Control -
dc.type Article -
dc.identifier.doi 10.1109/TMECH.2017.2718108 -
dc.identifier.wosid 000413042700022 -
dc.identifier.scopusid 2-s2.0-85021825416 -
dc.type.local Article(Overseas) -
dc.type.rims ART -
dc.description.journalClass 1 -
dc.citation.publicationname IEEE/ASME Transactions on Mechatronics -
dc.contributor.nonIdAuthor Jin, Maolin -
dc.contributor.nonIdAuthor Kang, Sang Hoon -
dc.contributor.nonIdAuthor Lee, Jinoh -
dc.identifier.citationVolume 22 -
dc.identifier.citationNumber 5 -
dc.identifier.citationStartPage 2141 -
dc.identifier.citationEndPage 2152 -
dc.identifier.citationTitle IEEE/ASME Transactions on Mechatronics -
dc.type.journalArticle Article -
dc.description.isOpenAccess N -
dc.subject.keywordAuthor Inclusive formulation -
dc.subject.keywordAuthor model-free control (MFC) -
dc.subject.keywordAuthor nonlinear desired error dynamics (DED) -
dc.subject.keywordAuthor nonlinear -
dc.subject.keywordPlus TERMINAL SLIDING-MODE -
dc.subject.keywordPlus TRACKING CONTROL -
dc.subject.keywordPlus NEURAL-NETWORKS -
dc.subject.keywordPlus MOTION CONTROL -
dc.subject.keywordPlus CONTROL SCHEME -
dc.subject.keywordPlus SYSTEMS -
dc.subject.keywordPlus PERFORMANCE -
dc.subject.keywordPlus CONVERTER -
dc.subject.keywordPlus DYNAMICS -
dc.subject.keywordPlus SURFACE -
dc.contributor.affiliatedAuthor Jin, Maolin -
dc.contributor.affiliatedAuthor Kang, Sang Hoon -
dc.contributor.affiliatedAuthor Chang, Pyung Hun -
dc.contributor.affiliatedAuthor Lee, Jinoh -
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