대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1993년도 하계학술대회 논문집 A
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- Pages.373-375
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- 1993
직접 구동형 매니퓰레이터의 비모형화 특성을 고려한 강인한 적응 제어기의 설계 및 구현
A Robust Adaptive Controller Design and Implementation for a Direct Drive Manipulator with Unmodeled Dynamics
- Kim, Eung-Seok (Korea Institute of Science and Technology) ;
- Lim, Mee-Seub (Korea Institute of Science and Technology) ;
- Kim, Kwon-Ho (Korea Institute of Science and Technology) ;
- Kim, Kwang-Bae (Korea Institute of Science and Technology)
- 발행 : 1993.07.18
초록
In this paper we deal with the design and implementation problem of a robust adaptive controller for a direct drive manipulator with unmodeled dynamics. The proposed controller ensures that the closed loop system is stable and output errors are converged to some boundary. To validate the improved performance of the proposed controller experimental results are presented in this paper.
키워드