Hee‐Jun Kang
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View article: Precision Tracking of Industrial Manipulators via Adaptive Nonsingular Fixed-Time Sliding Mode Control
Precision Tracking of Industrial Manipulators via Adaptive Nonsingular Fixed-Time Sliding Mode Control Open
This paper presents a novel adaptive fixed-time sliding mode control (AFxTSMC) framework for industrial manipulators. The proposed adaptive reaching law (ARL) enables rapid and stable gain reduction by leveraging the current parameter valu…
View article: A Novel Model-Free Nonsingular Fixed-Time Sliding Mode Control Method for Robotic Arm Systems
A Novel Model-Free Nonsingular Fixed-Time Sliding Mode Control Method for Robotic Arm Systems Open
This paper introduces a novel model-free nonsingular fixed-time sliding mode control (MF-NFxTSMC) strategy for precise trajectory tracking in robot arm systems. Unlike conventional sliding mode control (SMC) approaches that require accurat…
View article: Sliding Mode Control Method Based on a Fuzzy Logic System for ROVs with Predefined-Time Convergence and Stability
Sliding Mode Control Method Based on a Fuzzy Logic System for ROVs with Predefined-Time Convergence and Stability Open
This paper presents a predefined-time control approach to address slow convergence and instability in the orbit control of remotely operated vehicles (ROVs). The proposed method introduces tunable predefined-time stability (PTS), allowing …
View article: A Novel Time Delay Nonsingular Fast Terminal Sliding Mode Control for Robot Manipulators with Input Saturation
A Novel Time Delay Nonsingular Fast Terminal Sliding Mode Control for Robot Manipulators with Input Saturation Open
Manipulator systems are increasingly deployed across various industries to perform complex, repetitive, and hazardous tasks, necessitating high-precision control for optimal performance. However, the design of effective control algorithms …
View article: Observer-Based Fault-Tolerant Control for Uncertain Robot Manipulators without Velocity Measurements
Observer-Based Fault-Tolerant Control for Uncertain Robot Manipulators without Velocity Measurements Open
In recent years, robot manipulator arms have become increasingly prevalent and are playing pivotal roles across various industries. Their ability to replace human labor in arduous and hazardous tasks has positioned them as indispensable as…
View article: A Model-Free-Based Control Method for Robot Manipulators: Achieving Prescribed Performance and Ensuring Fixed Time Stability
A Model-Free-Based Control Method for Robot Manipulators: Achieving Prescribed Performance and Ensuring Fixed Time Stability Open
This paper addresses three significant challenges in controlling robot manipulators: improving response time, minimizing steady-state errors and chattering, and enhancing controller robustness. It also focuses on eliminating the need for c…
View article: Fixed-Time RBFNN-Based Prescribed Performance Control for Robot Manipulators: Achieving Global Convergence and Control Performance Improvement
Fixed-Time RBFNN-Based Prescribed Performance Control for Robot Manipulators: Achieving Global Convergence and Control Performance Improvement Open
This paper proposes a fixed-time neural network-based prescribed performance control method (FNN-PPCM) for robot manipulators. A fixed-time sliding mode controller (SMC) is designed with its strengths and weaknesses in mind. However, to ad…
View article: Fixed-Time Sliding Mode-Based Active Disturbance Rejection Tracking Control Method for Robot Manipulators
Fixed-Time Sliding Mode-Based Active Disturbance Rejection Tracking Control Method for Robot Manipulators Open
This work investigates the issue of a hybrid trajectory tracking control algorithm (HTCA) for robot manipulators (RMs) with uncertain dynamics and the effect of external disturbances. Following are some proposals for achieving the control …
View article: Heterogeneous graph construction and HinSAGE learning from electronic medical records
Heterogeneous graph construction and HinSAGE learning from electronic medical records Open
Graph representation learning is a method for introducing how to effectively construct and learn patient embeddings using electronic medical records. Adapting the integration will support and advance the previous methods to predict the pro…
View article: Real-Time Implementation of the Prescribed Performance Tracking Control for Magnetic Levitation Systems
Real-Time Implementation of the Prescribed Performance Tracking Control for Magnetic Levitation Systems Open
For magnetic levitation systems subject to dynamical uncertainty and exterior perturbations, we implement a real-time Prescribed Performance Control (PPC). A modified function of Global Fast Terminal Sliding Mode Manifold (GFTSMM) based on…
View article: An Adaptive Prescribed Performance Tracking Motion Control Methodology for Robotic Manipulators with Global Finite-Time Stability
An Adaptive Prescribed Performance Tracking Motion Control Methodology for Robotic Manipulators with Global Finite-Time Stability Open
In this paper, the problem of an APPTMC for manipulators is investigated. During the robot’s operation, the error states should be kept within an outlined range to ensure a steady-state and dynamic attitude. Firstly, we propose the modifie…
View article: Heterogeneous graph construction and HinSAGE learning from electronic medical records
Heterogeneous graph construction and HinSAGE learning from electronic medical records Open
Graph representation learning is a method for introducing how to effectively construct and learn patient embeddings using electronic medical records. Adapting the integration will support and advance the previous methods to predict the pro…
View article: A Novel High-Speed Third-Order Sliding Mode Observer for Fault-Tolerant Control Problem of Robot Manipulators
A Novel High-Speed Third-Order Sliding Mode Observer for Fault-Tolerant Control Problem of Robot Manipulators Open
In this paper, a novel fault-tolerant control tactic for robot manipulator systems using only position measurements is proposed. The proposed algorithm is constructed based on a combination of a nonsingular fast terminal sliding mode contr…
View article: An Active Fault-Tolerant Control Based on Synchronous Fast Terminal Sliding Mode for a Robot Manipulator
An Active Fault-Tolerant Control Based on Synchronous Fast Terminal Sliding Mode for a Robot Manipulator Open
To maintain the safe operation and acceptable performance of robot manipulators when faults occur inside the system, fault-tolerant control must deal differently uncertainties and disturbances, especially with the occurrence of loss-effect…
View article: A New Manipulator Calibration Method for the Identification of Kinematic and Compliance Errors Using Optimal Pose Selection
A New Manipulator Calibration Method for the Identification of Kinematic and Compliance Errors Using Optimal Pose Selection Open
In this study, a manipulator calibration algorithm is suggested to decrease the positional errors of an industrial robotic manipulator using a genetic algorithm to select optimal measurement poses. First, a genetic algorithm based on the o…
View article: Implementation of sensorless contact force estimation in collaborative robot based on adaptive third-order sliding mode observer
Implementation of sensorless contact force estimation in collaborative robot based on adaptive third-order sliding mode observer Open
In this paper, we propose the estimation of contact force in a collaborative robot without explicit force-sensing based on the adaptive third-order sliding mode observer. An adaptive third-order sliding mode observer was designed to estima…
View article: A Novel Prescribed-Performance-Tracking Control System with Finite-Time Convergence Stability for Uncertain Robotic Manipulators
A Novel Prescribed-Performance-Tracking Control System with Finite-Time Convergence Stability for Uncertain Robotic Manipulators Open
Through this article, we present an advanced prescribed performance-tracking control system with finite-time convergence stability for uncertain robotic manipulators. It is therefore necessary to define a suitable performance function and …
View article: Complex Modified Function Projective Lag Synchronization With Fixed-Time Stability Guarantees for Hyperchaotic Systems via a Fixed-Time Control Proposal
Complex Modified Function Projective Lag Synchronization With Fixed-Time Stability Guarantees for Hyperchaotic Systems via a Fixed-Time Control Proposal Open
Our paper investigates complex modified function projective lag synchronization with fixed-time stability guarantees for hyperchaotic systems via a FxTC proposal. The synchronization of complex hyperchaotic systems and the desired performa…
View article: Simultaneous identification of joint compliance and kinematic parameters with the joint compliance parameters determined by teaching learning based optimization
Simultaneous identification of joint compliance and kinematic parameters with the joint compliance parameters determined by teaching learning based optimization Open
The elastic of links and joints keep the industrial robotic from archiving the required precision when executing an operation with a payload. This article suggested a novel industrial robot manipulator calibration approach, which detects j…
View article: An Active Fault-Tolerant Control for Robotic Manipulators Using Adaptive Non-Singular Fast Terminal Sliding Mode Control and Disturbance Observer
An Active Fault-Tolerant Control for Robotic Manipulators Using Adaptive Non-Singular Fast Terminal Sliding Mode Control and Disturbance Observer Open
In this study, a fault-tolerant control (FTC) tactic using a sliding mode controller–observer method for uncertain and faulty robotic manipulators is proposed. First, a finite-time disturbance observer (DO) is proposed based on the sliding…
View article: A Bearing Fault Diagnosis Method Using Multi-Branch Deep Neural Network
A Bearing Fault Diagnosis Method Using Multi-Branch Deep Neural Network Open
Feature extraction from a signal is the most important step in signal-based fault diagnosis. Deep learning or deep neural network (DNN) is an effective method to extract features from signals. In this paper, a novel vibration signal-based …
View article: A Novel Active Fault-Tolerant Tracking Control for Robot Manipulators with Finite-Time Stability
A Novel Active Fault-Tolerant Tracking Control for Robot Manipulators with Finite-Time Stability Open
Many terminal sliding mode controllers (TSMCs) have been suggested to obtain exact tracking control of robotic manipulators in finite time. The ordinary method is based on TSMCs that secure trajectory tracking under the assumptions such as…
View article: A Novel Active Fault-Tolerant Tracking Control for Robot Manipulators with Finite-Time Stability
A Novel Active Fault-Tolerant Tracking Control for Robot Manipulators with Finite-Time Stability Open
Many terminal sliding mode controllers (TSMCs) have been suggested to obtain exact tracking control of robotic manipulators in finite time. The ordinary method is based on TSMCs that secure trajectory tracking under the assumptions such as…
View article: A Robust Observer-Based Control Strategy for n-DOF Uncertain Robot Manipulators with Fixed-Time Stability
A Robust Observer-Based Control Strategy for n-DOF Uncertain Robot Manipulators with Fixed-Time Stability Open
In this paper, a robust observer-based control strategy for n-DOF uncertain robot manipulators with fixed-time stability was developed. The novel fixed-time nonsingular sliding mode surface enables control errors to converge to the equilib…