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박재식,노영오,안병원,남택근,Park Jae-Shik,Roh Young-Oh,Ahn Byung-Won,Nam Taek-Kun 한국마린엔지니어링학회 2004 한국마린엔지니어링학회지 Vol.28 No.7
In this paper, a trajectory tracking problems using SMC(sliding mode control) is presented. In the conventional method. SMC has been applied to linear systems and the output matrix C has to satisfy a restrictive condition that CB is nonsingular. Under suitable assumptions, decoupling SMC can be adapted to remove the restriction mentioned above. The Proposed control strategy is applied to trajectory tracking control and simulations results are given to demonstrate the effectiveness of the proposed control scheme.
비 간섭 슬라이딩 모드 기법을 이용한 로봇 매니퓰레이터의 궤도제어
남택근(Taek-Kun Nam),노영오(Young-Oh Roh),안병원(Byung-Won Ahn) 대한기계학회 2004 대한기계학회 춘추학술대회 Vol.2004 No.11
In this paper, we proposed the decoupling VSS controllers for n trajectory control of n two degrees of freedom SCARA type manipulator. We decoupled the position and velocity of n manipulator tip by using a nonlinear error functions. The reference inputs of the controller can be decided directly from the desired position and velocity. Simulation result is provided to verify the effectiveness of the proposed control scheme.