로보트 매니퓰레이터에 대한 다중비 비선형 제어기

Multirate nonlinear control for robot manipulator

This paper is proposed of multirate nonlinear controller for robot manipulator. The proposed controller is obtained by structure changes of feedback controller with C.T.M and for time differences commanded in caculating each term of controller, multirate sampling is used. And more robust controller is proposed by considering one-step ahead predictive action. In order to evaluate proposed controller, computer simulation is performed for a 3 D.O.F robot manipulator with varying load.