Repetitive sliding mode control of a robotic arm with a large motion range = 모션 범위가 넓은 로봇 팔의 반복 슬라이딩 모드 제어

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Proportion-integral-differential control is one of the most commonly-used control algorithms in reality. However, it often fails to get great performance on nonlinear systems. The purpose of this work is to achieve high tracking performance of a two-link robot. This paper proposed a repetitive control law based on sliding mode control. Stability and robustness conditions were proven. Then experiments were carried out. The results showed that the average absolute error can be less than 0.01 rad. The research is important and useful in reality because the proposed control law does not require exact system parameters.
Advisors
Kong, Kyoungchulresearcher공경철researcher
Description
한국과학기술원 :기계공학과,
Publisher
한국과학기술원
Issue Date
2020
Identifier
325007
Language
eng
Description

학위논문(석사) - 한국과학기술원 : 기계공학과, 2020.8,[iv, 26 p. :]

Keywords

Repetitive control▼aadaptive▼asliding mode control▼arobotic arm▼anonlinear system; 반복 제어▼a적응 형▼a슬라이딩 모드 제어▼a로봇 팔▼a비선형 시스템

URI
http://hdl.handle.net/10203/284957
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=925116&flag=dissertation
Appears in Collection
ME-Theses_Master(석사논문)
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