A Widely Time-delayed Control Algorithm with Integral Sliding Manifold for Robot Manipulators

被引：0
作者：
Baek, Jaemin [1 ]
Kang, Minseok [2 ]
Yun, Kyeongsoo [1 ]
机构：
[1] Gangneung Wonju Natl Univ, Dept Mech Engn, Kangnung, South Korea
[2] Kongju Natl Univ, Sch Elect Elect & Control Engn, Gongju, South Korea
来源：
TRANSACTIONS OF THE KOREAN SOCIETY OF MECHANICAL ENGINEERS A | 2023年 / 47卷 / 05期
关键词：
Sliding-mode Control; Integral Sliding Variable; Time-delayed Control; Robot Manipulator; MODE CONTROL; TRAJECTORY-TRACKING;
D O I：
10.3795/KSME-A.2023.47.5.409
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
This paper presents a widely time-delayed control algorithm with integral sliding variable for articulated robot manipulators. The proposed control algorithm can always guarantee the system stability even if it violates the stability criterion within the time-delayed control. Also, since it employs time-delayed estimation method without requiring a priori knowledge of system properties while in operation, it provides a simple and compact structure. Additionally, the proposed control algorithm includes an integral sliding variable and hence guarantees high convergence rate in sliding phase when compared to first-order sliding variable. The effectiveness of the proposed one is verified through simulation with two-axes planar robot manipulator, which is compared with that of the existing time-delayed control algorithm.
引用
收藏
页码：409 / 416
页数：8
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