Robust controller for actuator plus manipulator with dynamic parameter uncertainty

동적인 매개변수 불확실성을 갖는 로보트 매니퓰레이터와 조작기에 대한 강건한 제어기

In this paper, Proposed the robust controller for robot manipulator plus actuator with dynamic parameter uncertainties. In general, errors and uncertainties system parameters exist more or less between the actual system and mathematical model. To reduce these trems, used Lyapunov stability theorem. The performance of the controller is evaluated for the three degree of freedom robot manipulator plus actuator model with uncertainties of parameters and model errors.