Sliding mode control with perturbation estimation: application to motion control of parallel manipulator
Sliding mode control(SMC) incorporated with perturbation compensation is developed here to reduce the low-frequency tracking error in the presence of wide-band frequency perturbations for a nonlinear dynamic system. The control scheme is then applied to the motion control of a two-degree-of-freedom (DOF) parallel manipulator, utilizing its reduced dynamics for real-time implementation. It is shown that the SMC with perturbation compensation is far superior to the conventional SMC in tracking control of the manipulator under large payload and external disturbance conditions. (C) 1998 Elsevier Science Ltd. All rights reserved.
- Publisher
- PERGAMON-ELSEVIER SCIENCE LTD
- Issue Date
- 1998-11
- Language
- English
- Article Type
- Article
- Keywords
VARIABLE-STRUCTURE CONTROL; NON-LINEAR SYSTEMS; NONLINEAR-SYSTEMS; ESTIMATION SMCPE
- Citation
CONTROL ENGINEERING PRACTICE, v.6, no.11, pp.1321 - 1330
- ISSN
- 0967-0661
- Appears in Collection
- ME-Journal Papers(저널논문)
- Files in This Item
This item is cited by other documents in WoS
| ⊙ Detail Information in WoSⓡ | Click to see |  |
| ⊙ Cited 39 items in WoS | Click to see citing articles in |  |
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.