Practical nonsingular terminal sliding-mode control of robot manipulators for high-accuracy tracking control / Maolin, Jin in IEEE transactions on industrial electronics, Vol. 56 N° 9 (Septembre 2009)  

Public ISBD [article]  inIEEE transactions on industrial electronics > Vol. 56 N° 9 (Septembre 2009) . - pp. 3593-3601 Titre : Practical nonsingular terminal sliding-mode control of robot manipulators for high-accuracy tracking control Type de document : texte imprimé Auteurs : Maolin, Jin, Auteur ; Jinoh, Lee, Auteur ; Chang, Pyung Hun, Auteur Article en page(s) : pp. 3593-3601 Note générale : Génie électrique Langues : Anglais (eng) Mots-clés : Nonsingular terminal sliding-mode Robot manipulators High-accuracy control Index. décimale : 621 Ingénierie mécanique en général. Technologie nucléaire. Ingénierie électrique. Machinerie Résumé : 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. DEWEY : 621 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?isnumber=5200775&arnumber=5067322 [...] [article] Practical nonsingular terminal sliding-mode control of robot manipulators for high-accuracy tracking control [texte imprimé] / Maolin, Jin, Auteur ; Jinoh, Lee, Auteur ; Chang, Pyung Hun, Auteur . - pp. 3593-3601. Génie électrique Langues : Anglais (eng) in IEEE transactions on industrial electronics > Vol. 56 N° 9 (Septembre 2009) . - pp. 3593-3601 Mots-clés : Nonsingular terminal sliding-mode Robot manipulators High-accuracy control Index. décimale : 621 Ingénierie mécanique en général. Technologie nucléaire. Ingénierie électrique. Machinerie Résumé : 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. DEWEY : 621 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?isnumber=5200775&arnumber=5067322 [...]

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