Stability guaranteed time-delay control of manipulators using nonlinear damping and terminal sliding mode

IEEE Transactions on Industrial Electronics

Volumn 60, Issue 8, 2013, Pages 3304-3317

  Jin, Yi ^a   Chang, Pyung Hun ^b   Jin, Maolin ^c   Gweon, Dae Gab ^a  

^a Korea Advanced Institute of Science and Technology (KAIST)   (South Korea)

^b Daegu Gyeongbuk Institute of Science and Technology   (South Korea)

^c Research Institute of Industrial Science and Technology (RIST)   (South Korea)

Author keywords

Nonlinear damping; robot manipulators; stability; terminal sliding mode (TSM); time delay control (TDC)

Indexed keywords

CONVERGENCE OF NUMERICAL METHODS; DAMPING; FLEXIBLE MANIPULATORS; INDUSTRIAL ROBOTS; MODULAR ROBOTS; ROBOT APPLICATIONS; TIME DELAY;

CLOSED LOOP STABILITY; CONTROL PERFORMANCE; GLOBALLY UNIFORMLY ULTIMATELY BOUNDED; NONLINEAR DAMPING; ROBOT MANIPULATOR; TERMINAL SLIDING MODE; TIME DELAY CONTROLS (TDC); TIME DELAY ESTIMATION;

DELAY CONTROL SYSTEMS;

EID: 84876226097     PISSN: 02780046     EISSN: None     Source Type: Journal    
DOI: 10.1109/TIE.2012.2200216     Document Type: Article

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