대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1991년도 하계학술대회 논문집
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- Pages.777-780
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- 1991
로보트 매니퓰레이터의 이산 시간 적응제어에 관한 연구
A study on the Discrete-Time Adaptive Control for Robot Maninpulator
- Sung, Kwan-Young (Dept. of Electrical Eng., Kon-Kuk Univ.) ;
- Lee, Un-Cheol (Dept. of Electrical Eng., Kon-Kuk Univ.) ;
- Yoo, Jae-Guen (Dept. of Electrical Eng., Kon-Kuk Univ.) ;
- Nam, Moon-Hyun (Dept. of Electrical Eng., Kon-Kuk Univ.)
- 발행 : 1991.07.18
초록
The practical implementation of model reference adaptive systems(MRAS) using digital computer requires the derivation of discrete-time adaptation laws. This is specially important in the case of direct driver robot and light weight manipulator where inertia changes ang gravity effects are significant. We develope a discrete-time model reference adaptive control scheme for trajectory tracking of robot manipulator. Instead of the conventional Lyapunov approach hyperstabillty theory is more appealing than the Lyapunov approach. It is better suited to discrete time systems and offers more flexibility in design by providing additional free design parameters.
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