OASIS Repository@POSTECHLIBRARY: Robust sliding mode control for robot manipulators with analysis on trade-off between reaching time and L∞ gain

<!DOCTYPE html> <html lang="ko"> <head> <title>OASIS Repository@POSTECHLIBRARY: Robust sliding mode control for robot manipulators with analysis on trade-off between reaching time and L∞ gain</title> <meta http-equiv="Content-Type" content="text/html; charset=UTF-8" /> <meta name="Generator" content="DSpace 5.5" /> <meta name="viewport" content="width=device-width, initial-scale=1.0"> <meta http-equiv="X-UA-Compatible" content="IE=edge"> <meta name="description" content="Postech OASIS Repository" /> <meta name="keywords" content="오아시스,레포지토리,리포지터리,저장소,포스텍,박태준학술정보관,포항공과대학교,포항공대,POSTECH,Pohang University of Science and Technology,도서관,IR,연구업적,학술실적,연구성과,dspace" /> <link rel="shortcut icon" href="/favicon.ico" type="image/x-icon"/> <link rel="search" type="application/opensearchdescription+xml" href="/open-search/description.xml" title="DSpace" /> <link rel="schema.DCTERMS" href="http://purl.org/dc/terms/" /> <link rel="schema.DC" href="http://purl.org/dc/elements/1.1/" /> <link rel="schema.OAK" href="http://www.oak.go.kr/terms/" /> <meta name="OAK.author" content="KANG, OERYUNG" scheme="OAK.AUTHOR" /> <meta name="OAK.author" content="KIM, JUNG HOON" scheme="OAK.AUTHOR" /> <meta name="DCTERMS.dateAccepted" content="2024-03-06T02:40:48Z" scheme="DCTERMS.W3CDTF" /> <meta name="DCTERMS.available" content="2024-03-06T02:40:48Z" scheme="DCTERMS.W3CDTF" /> <meta name="DCTERMS.created" content="2024-02-28" scheme="DCTERMS.W3CDTF" /> <meta name="DCTERMS.issued" content="2024-02" scheme="DCTERMS.W3CDTF" /> <meta name="OAK.identifier.issn" content="0170-4214" scheme="OAK.ISSN" /> <meta name="DC.identifier" content="https://oasis.postech.ac.kr/handle/2014.oak/121416" scheme="DCTERMS.URI" /> <meta name="DCTERMS.abstract" content="This paper provides a new sliding mode control (SMC) approach, by which both the nominal and robust stability associated with a trajectory tracking problem for an uncertain robot manipulator are achieved. More precisely, the new control law consists of linear and nonlinear functions of tracking errors, in which the former is for the nominal stability and the latter is to ensure the robust stability of the resulting closed‐loop systems. The nonlinear function can be interpreted as an extended version of conventional SMC approach, and the reaching phase corresponding to a pregiven sliding surface is shown to be completed in a finite time; the tracking errors arrive at the sliding surface in a finite time and do not deviate from it after the arrival. In the sliding phase, the tracking errors are also ensured to converge to the origin. Finally, some simulation results are given to demonstrate both the theoretical validity and practical effectiveness of the proposed control approach." /> <meta name="DC.language" content="English" /> <meta name="DC.publisher" content="John Wiley & Sons Inc." /> <meta name="DC.relation" content="Mathematical Methods in the Applied Sciences" /> <meta name="DC.title" content="Robust sliding mode control for robot manipulators with analysis on trade-off between reaching time and L∞ gain" /> <meta name="DC.type" content="Article" /> <meta name="DC.identifier" content="10.1002/MMA.9972" /> <meta name="DC.identifier" content="56885" /> <meta name="DC.type" content="ART" /> <meta name="DC.identifier" content="Mathematical Methods in the Applied Sciences" /> <meta name="OAK.relation.journal" content="Mathematical Methods in the Applied Sciences" scheme="OAK.JOURNAL" /> <meta name="DC.contributor" content="KANG, OERYUNG" /> <meta name="DC.contributor" content="KIM, JUNG HOON" /> <meta name="DC.identifier" content="2-s2.0-85186588912" /> <meta name="DC.description" content="1" /> <meta name="DC.description" content="1" /> <meta name="DC.description" content="N" /> <meta name="DC.subject" content="L∞ gain" /> <meta name="DC.subject" content="inverse dynamics control" /> <meta name="DC.subject" content="robot manipulators" /> <meta name="DC.subject" content="robust stability" /> <meta name="DC.subject" content="sliding mode control" /> <meta name="DC.description" content="scie" /> <meta name="DC.description" content="scopus" /> <meta name="citation_keywords" content="Article" /> <meta name="citation_title" content="Robust sliding mode control for robot manipulators with analysis on trade-off between reaching time and L∞ gain" /> <meta name="citation_issn" content="0170-4214" /> <meta name="citation_publisher" content="John Wiley & Sons Inc." /> <meta name="citation_author" content="KANG, OERYUNG" /> <meta name="citation_author" content="KIM, JUNG HOON" /> <meta name="citation_date" content="2024-02" /> <meta name="citation_abstract_html_url" content="https://oasis.postech.ac.kr/handle/2014.oak/121416" /> <link rel="stylesheet" href="/css/bootstrap.min.css" defer /> <link rel="stylesheet" href="/css/layout.css" async /> <link rel="stylesheet" href="/css/mquery.css" defer /> <link rel="stylesheet" href="/css/slidebars.css" defer />  <link rel="stylesheet" href="/css/owl.carousel.css" defer />  <link rel="stylesheet" href="/css/owl.theme.css" defer /> <link rel="stylesheet" href="/css/bootstrap-partof.css" defer /> <script src="/js/jquery-1.9.1.min.js"></script> <script src="/js/jquery-ui.js"></script> <script src="/js/bootstrap.min.js"></script> <script src="/js/owl.carousel.min.js"></script> <script src="/js/common.js" defer></script> <script src="/utils.js" defer></script> <script src="/static/js/holder.js" defer></script> <script src="/static/js/choice-support.js" defer></script> <script src="/js/ms-clarity.js"></script> <script async src="https://www.googletagmanager.com/gtag/js?id=G-B9EHYYGM78"></script> <script> window.dataLayer = window.dataLayer || []; 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Journal Papers</strong></a> </div></div> </div> <div class="col_width sub_container add_widget"> <div class="sub_contents"> <script src="https://apis.google.com/js/platform.js" async defer></script> <script type="text/javascript"> // google plus api window.___gcfg = {lang: 'ko'}; (function() { var po = document.createElement('script'); po.type = 'text/javascript'; po.async = true; po.src = 'https://apis.google.com/js/platform.js'; var s = document.getElementsByTagName('script')[0]; s.parentNode.insertBefore(po, s); })(); </script> <div class="sub_title"> <h3> </h3> <div class="type_icon"> <span class="article_type">Article</span> </div> </div> <div class="view_top_box"> <div class="view_bt_box"> <span class="cited_span science_span">Cited <em>0</em> time in <img src="/image/common/webofscience.png" alt="webofscience"></span> <span class="cited_span">Cited <em>0</em> time in <img src="/image/common/scopus.png" alt="scopus"></span> </div> <div class="view_bt_area"> <span>Metadata Downloads</span> <form action="/export" method="post"> <input type="hidden" name="item_id" value="121058"/> <div class="view_downbt"> <ul> <li> <input type="submit" name="submit_export_dc" value="DC(XML)"/> </li> <li> <input type="submit" name="submit_export_excel" value="EXCEL"/> </li> </ul> </div> </form> </div> </div> <div class="view_contents"> <p class="view_title">Robust sliding mode control for robot manipulators with analysis on trade-off between reaching time and L∞ gain <em class="a_l_ink a_l_scie">SCIE</em> <em class="a_l_ink a_l_scopus">SCOPUS</em> </p> <div class="view_inner_con"> <dl><dt>Title</dt><dd>Robust sliding mode control for robot manipulators with analysis on trade-off between reaching time and L∞ gain</dd></dl> <dl><dt>Authors</dt><dd><a class="author"href="/browse?type=author&value=KANG%2C+OERYUNG">KANG, OERYUNG</a>; <a class="author_a" href="/researcher-profile?ep=1023">KIM, JUNG HOON</a></dd></dl> <dl><dt>Date Issued</dt><dd>2024-02 </dd></dl> <dl><dt>Publisher</dt><dd>John Wiley & Sons Inc.</dd></dl> <dl><dt>Abstract</dt><dd>This paper provides a new sliding mode control (SMC) approach, by which both the nominal and robust stability associated with a trajectory tracking problem for an uncertain robot manipulator are achieved. More precisely, the new control law consists of linear and nonlinear functions of tracking errors, in which the former is for the nominal stability and the latter is to ensure the robust stability of the resulting closed‐loop systems. The nonlinear function can be interpreted as an extended version of conventional SMC approach, and the reaching phase corresponding to a pregiven sliding surface is shown to be completed in a finite time; the tracking errors arrive at the sliding surface in a finite time and do not deviate from it after the arrival. In the sliding phase, the tracking errors are also ensured to converge to the origin. Finally, some simulation results are given to demonstrate both the theoretical validity and practical effectiveness of the proposed control approach.</dd></dl> <dl><dt>URI</dt><dd><a href="https://oasis.postech.ac.kr/handle/2014.oak/121416" class="link_type">https://oasis.postech.ac.kr/handle/2014.oak/121416</a></dd></dl> <dl><dt>DOI</dt><dd><a href="http://dx.doi.org/10.1002/MMA.9972">10.1002/MMA.9972</a></dd></dl> <dl><dt>ISSN</dt><dd>0170-4214</dd></dl> <dl><dt>Article Type</dt><dd>Article</dd></dl> <dl><dt>Citation</dt><dd>Mathematical Methods in the Applied Sciences, 2024-02</dd></dl> <dl class="file_item_dl"><dt>Files in This Item:</dt> <dd class="file_download">There are no files associated with this item.</dd> </dl> </div> <div class="record_bt_box"> <a href="/handle/2014.oak/121416?mode=full">Show full item record</a> </div> <div class="al_right"> </div> <div class="sns_wrap"> <div class="sns_box"> <p class="qr_box"><img src="https://api.qrserver.com/v1/create-qr-code/?size=66x66&data=https://oasis.postech.ac.kr/handle/2014.oak/121416" alt="qr_code"></p> <div class="sns_inner"> <ul> <li> <p><a href="http://www.mendeley.com/import/?url=https://oasis.postech.ac.kr/handle/2014.oak/121416" target="_blank"><img src="/image/common/mendeley_icon.gif" alt="mendeley" /></a></p> <p class="twitter_box"> <a href="https://twitter.com/share" class="tweet_bt twitter-share-button" data-lang="en" data-size="large" data-dnt="true">트윗하기</a> <script> !function(d, s, id) { var js, fjs = d.getElementsByTagName(s)[0]; if (!d.getElementById(id)) { js = d.createElement(s); js.id = id; js.src = "//platform.twitter.com/widgets.js"; fjs.parentNode.insertBefore(js, fjs); } }(document, "script", "twitter-wjs"); </script> </p> </li> <li class="facebook_li"> <span id="fb-root"></span> <script> (function(d, s, id) { var js, fjs = d.getElementsByTagName(s)[0]; if (d.getElementById(id)) return; js = d.createElement(s); js.id = id; js.src = "//connect.facebook.net/ko_KR/all.js#xfbml=1"; fjs.parentNode.insertBefore(js, fjs); }(document, 'script', 'facebook-jssdk')); </script> <span class="fb-like" data-send="true" data-layout="standard" data-width="450" data-show-faces="false" data-font="verdana"></span> </li> </ul> </div> </div> <p class="sns_text"> <span> Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.</span> </p> </div> </div> </div>  <div class="sub_right_box"> <div class="w_cc"> <h4 class="widget_title">Communities & Collection</h4> <ul> <li><a href="/handle/2014.oak/418" class="cc_item">Department of Electrical Engineering (전자전기공학과)</a> <ul> <li><a href="/handle/2014.oak/419">1. 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OASIS Repository@POSTECHLIBRARY: Robust sliding mode control for robot manipulators with analysis on trade-off between reaching time and L∞ gain