부산대학교 도서관

This paper presents an adaptive robust controller for robot manipulators using adaptive integral sliding mode control and time-delay estimation (TDE). The proposed controller employs TDE to estimate robot dynamics with uncertainties such as parameter variations and disturbances, an integral sliding surface to eliminate the reaching phase together with the noise-sensitive switching action used in the conventional sliding mode control, and adaptation gain dynamics to achieve the applicable high accuracy. Experimental studies using a programmable universal machine for assembly-type industrial robot manipulator are conducted to verify the effectiveness of the proposed control. The proposed controller is robust, chattering free, and highly accurate.