| ชื่อเรื่อง | : | Continuous finite-time control for robotic manipulators with terminal sliding modes |
| นักวิจัย | : | Yu, Shuanghe. , Yu, Xing Huo. , Stonier, Russel J. |
| คำค้น | : | TBA , TBA , TBA , Robots , Manipulators (Mechanism) , Finite-time stabliity -- Terminal sliding mode -- Fractional power -- Trajectory tracking |
| หน่วยงาน | : | Central Queensland University, Australia |
| ผู้ร่วมงาน | : | - |
| ปีพิมพ์ | : | 2546 |
| อ้างอิง | : | http://hdl.cqu.edu.au/10018/6021 , cqu:2481 |
| ที่มา | : | . '>Yu, S, Yu, X & Stonier, R 2003, 'Continuous finite-time control for robotic manipulators with terminal sliding modes', in ' Sixth International Conference on Information Fusion', Cairns, Australia, 8-11 July, 2003, pp. 1433-1440, |
| ความเชี่ยวชาญ | : | - |
| ความสัมพันธ์ | : | Proceedings of the Sixth International Conference on Information Fusion, Cairns, Australia, 8-11 July, 2003 Cairns, Australia : International Society of Information Fusion, 2003. p. 1433-1440 8 pages Refereed 0972184430 , aCQUIRe [electronic resource] : Central Queensland University Institutional Repository. |
| ขอบเขตของเนื้อหา | : | - |
| บทคัดย่อ/คำอธิบาย | : | A new continuous finite-time control scheme (or trajectory-tracking problem ofrobotic manipulators is proposed using terminal sliding mode (TSM). The finite-time convergence property of TSM is applied in both the reaching phase and the sliding phase ofthe sliding mode control system. As a result; the closed-loop system is globally finite-time stable and the trajectory-tracking objective is achieved in finite time. The resulting control law is continuous therefore chattering-free. Furthermore. it overcomes the common singularity problem in TSM Theoretical analysis shows that the proposed control strategy has stronger robustness and disturbance-attenuation ability compared with the conventional boundary-layer method. Simulation results are given to illustrate the effectiveness ofthe proposed algorithm. |
| บรรณานุกรม | : |
Yu, Shuanghe. , Yu, Xing Huo. , Stonier, Russel J. . (2546). Continuous finite-time control for robotic manipulators with terminal sliding modes.
กรุงเทพมหานคร : Central Queensland University, Australia. Yu, Shuanghe. , Yu, Xing Huo. , Stonier, Russel J. . 2546. "Continuous finite-time control for robotic manipulators with terminal sliding modes".
กรุงเทพมหานคร : Central Queensland University, Australia. Yu, Shuanghe. , Yu, Xing Huo. , Stonier, Russel J. . "Continuous finite-time control for robotic manipulators with terminal sliding modes."
กรุงเทพมหานคร : Central Queensland University, Australia, 2546. Print. Yu, Shuanghe. , Yu, Xing Huo. , Stonier, Russel J. . Continuous finite-time control for robotic manipulators with terminal sliding modes. กรุงเทพมหานคร : Central Queensland University, Australia; 2546.
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