MRAC방식에 의한 산업용 로보트 매니퓰레이터의 실시간 제어를 위한 견실한 제어기 설계

This paper deals with the robust controller design of robotic manipulator to track a desired trajectory in spite of the presence of unmodelled dynamics in cause of nonlinearity and parameter uncertainty. The approach followed in this paper is based on model reference adaptive control technique and convergence on hyperstability theory but it does away with assumption that process is characterized by a linear model remaining time invariant during adaptation process. A computer simulation has been performed to demonstrate the performance of the designed control system in task coordinates for stanford manipulator with payload and disturbances.