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dc.contributor.author Son, Young Ik ko
dc.contributor.author Jeong, Goo Jong ko
dc.contributor.author Kim, In Hyuk ko
dc.date.available 2017-07-05T08:29:09Z -
dc.date.created 2017-06-25 -
dc.date.issued 2012-02 -
dc.identifier.citation International Journal of Innovative Computing, Information and Control, v.8, no.2, pp.1371 - 1384 -
dc.identifier.issn 1349-4198 -
dc.identifier.uri http://hdl.handle.net/20.500.11750/2141 -
dc.description.abstract To improve the robust performance against input time delay and time-varying disturbances, a non-minimum phase disturbance observer (DOB) approach is investigated for the position control of a one-link manipulator driven by a direct-current (DC) motor with a harmonic drive gear. The time-delay control problem for a system with an integrator is especially difficult when the disturbance input is a time-varying signal. The effect of the time-varying disturbance owing to the load mass uncertainty has been alleviated using a non-minimum phase DOB together with a Smith predictor (SP). In order to test the performance of the proposed controller, comparative computer simulations and experiments have been carried out with the manipulator system. In the simulations, we have considered the uncertainties for the delay time as well as the load mass of the system. The experimental results confirm the robust performance of the proposed method against system uncertainties. © 2012 ICIC International. -
dc.publisher Innovative Computing, Information and Control -
dc.subject Computer Simulation -
dc.subject Delay Time -
dc.subject Direct-Current -
dc.subject Disturbance Observer -
dc.subject Harmonic Drive Gears -
dc.subject Load Mass -
dc.subject Manipulator Systems -
dc.subject Manipulators -
dc.subject Non-Minimum Phase -
dc.subject Non-Minimum Phase Systems -
dc.subject One-Link Manipulator -
dc.subject Position Control -
dc.subject Robust Performance -
dc.subject Smith Predictor -
dc.subject Smith Predictors -
dc.subject Speed Control -
dc.subject System Uncertainties -
dc.subject Time-Delay Control -
dc.subject Time-Varying Disturbance -
dc.subject Time Delay -
dc.subject Time Varying Control Systems -
dc.subject Time Varying Signal -
dc.title DISTURBANCE OBSERVER BASED POSITION CONTROL OF A ONE-LINK MANIPULATOR UNDER INPUT TIME DELAY -
dc.type Article -
dc.identifier.wosid 000301026100025 -
dc.type.local Article(Overseas) -
dc.type.rims ART -
dc.description.journalClass 1 -
dc.contributor.nonIdAuthor Son, Young Ik -
dc.contributor.nonIdAuthor Jeong, Goo Jong -
dc.identifier.citationVolume 8 -
dc.identifier.citationNumber 2 -
dc.identifier.citationStartPage 1371 -
dc.identifier.citationEndPage 1384 -
dc.identifier.citationTitle International Journal of Innovative Computing, Information and Control -
dc.type.journalArticle Article -
dc.contributor.affiliatedAuthor Kim, In Hyuk -
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