새로운 섭동추정기를 갖는 슬라이딩모드제어기의 설계

초록

In this work, a new type of the perturbation estimator is proposed and applied to robotic control. After formulating the sliding mode controller, three actuating conditions:on-off switching, filtering, and saturation are imposed. It has been demonstrated that the proposed method gives much better control performance compared with conventional type of the estimator