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Design Second Order Vibration Reduction
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- 발행기관
- 보안공학연구지원센터(IJHIT) 바로가기
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- 간행물
- International Journal of Hybrid Information Technology 바로가기
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- 통권
- Vol.8 No.7 (2015.07)바로가기
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- 페이지
- pp.11-26
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- 저자
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- 언어
- 영어(ENG)
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- URL
- https://www.earticle.net/Article/A251254
※ 원문제공기관과의 협약기간이 종료되어 열람이 제한될 수 있습니다.
원문정보
초록
- 영어
- Design of a robust controller for multi input-multi output (MIMO) nonlinear uncertain dynamical system can be a challenging work. This paper focuses on the design and analysis of a high performance adaptive baseline sliding mode control for second order nonlinear uncertain system, in presence of uncertainties to reduce the vibration. In this research, sliding mode controller is a robust and stable nonlinear controller which selected to control of robot manipulator. The proposed approach effectively combines of design methods from switching sliding mode controller, adaptive model-free baseline controller and linear Proportional-Derivative (PD) control to improve the performance, stability and robustness of the sliding mode controller. Sliding mode controller has two important subparts, switching and equivalent. Switching part (discontinuous part) is very important in uncertain condition but it causes chattering phenomenon. To solve the chattering, the most common method used is linear boundary layer saturation method, but this method lost the stability. To reduce the chattering with respect to stability and robustness; linear controller is added to the switching part of the sliding mode controller. The linear controller is to reduce the role of sliding surface slope and switching (sign) function. The nonlinearity term of the sliding mode controller is used to eliminate the decoupling and nonlinear term of link’s dynamic parameters. However nonlinearity term of sliding mode controller is very essential to reliability but in uncertain condition or highly nonlinear dynamic systems it can cause some problems. To solve this challenge the baseline controller is used as online tune or adaptive controller. This controller improves the stability and robustness, reduces the chattering as well and reduces the level of energy due to the torque performance as well.
목차
Abstract
1. Introduction
2. Theory
3. Methodology
4. Results and Discussion
5. Conclusion
Acknowledgments
References
키워드
Motor vibration vibration control variable structure control baseline methodology stability robust online tuning chattering저자
간행물 정보
발행기관
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- 발행기관명
- 보안공학연구지원센터(IJHIT) [Science & Engineering Research Support Center, Republic of Korea(IJHIT)]
- 설립연도
- 2006
- 분야
- 공학>컴퓨터학
- 소개
- 1. 보안공학에 대한 각종 조사 및 연구 2. 보안공학에 대한 응용기술 연구 및 발표 3. 보안공학에 관한 각종 학술 발표회 및 전시회 개최 4. 보안공학 기술의 상호 협조 및 정보교환 5. 보안공학에 관한 표준화 사업 및 규격의 제정 6. 보안공학에 관한 산학연 협동의 증진 7. 국제적 학술 교류 및 기술 협력 8. 보안공학에 관한 논문지 발간 9. 기타 본 회 목적 달성에 필요한 사업
간행물
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- 간행물명
- International Journal of Hybrid Information Technology
- 간기
- 격월간
- pISSN
- 1738-9968
- 수록기간
- 2008~2016
- 십진분류
- KDC 505 DDC 605
이 권호 내 다른 논문 / International Journal of Hybrid Information Technology Vol.8 No.7
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