Full metadata record
DC Field | Value | Language |
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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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