DC Field | Value | Language |
---|---|---|
dc.contributor.author | Jin, Maolin | ko |
dc.contributor.author | Lee, Jinoh | ko |
dc.contributor.author | Chang, Pyung Hun | ko |
dc.contributor.author | Choi, Chintae | ko |
dc.date.accessioned | 2013-03-09T17:58:03Z | - |
dc.date.available | 2013-03-09T17:58:03Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 2009-09 | - |
dc.identifier.citation | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, v.56, no.9, pp.3593 - 3601 | - |
dc.identifier.issn | 0278-0046 | - |
dc.identifier.uri | http://hdl.handle.net/10203/97059 | - |
dc.description.abstract | This paper presents a practical nonsingular terminal sliding-mode (TSM) tracking control design for robot manipulators using time-delay estimation (TDE). The proposed control assures fast convergence due to the nonlinear TSM, and requires no prior knowledge about the robot dynamics due to the TDE. Despite its model-free nature, the proposed control provides high-accuracy control and robustness against parameters variations. The simplicity, robustness, and fast convergence of the proposed control are verified through both 2-DOF planar robot simulations and 3-DOF PUMA-type robot experiments. | - |
dc.language | English | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.title | Practical Nonsingular Terminal Sliding-Mode Control of Robot Manipulators for High-Accuracy Tracking Control | - |
dc.type | Article | - |
dc.identifier.wosid | 000268896000034 | - |
dc.identifier.scopusid | 2-s2.0-69349096214 | - |
dc.type.rims | ART | - |
dc.citation.volume | 56 | - |
dc.citation.issue | 9 | - |
dc.citation.beginningpage | 3593 | - |
dc.citation.endingpage | 3601 | - |
dc.citation.publicationname | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | - |
dc.identifier.doi | 10.1109/TIE.2009.2024097 | - |
dc.contributor.localauthor | Chang, Pyung Hun | - |
dc.contributor.nonIdAuthor | Jin, Maolin | - |
dc.contributor.nonIdAuthor | Choi, Chintae | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | Model-free control | - |
dc.subject.keywordAuthor | nonsingular terminal sliding mode (NTSM) | - |
dc.subject.keywordAuthor | terminal sliding mode (TSM) | - |
dc.subject.keywordAuthor | time-delay estimation (TDE) | - |
dc.subject.keywordPlus | CONTROL DESIGN | - |
dc.subject.keywordPlus | SYSTEMS | - |
dc.subject.keywordPlus | NETWORKS | - |
dc.subject.keywordPlus | SCHEME | - |
dc.subject.keywordPlus | SMC | - |
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.