제어로봇시스템학회:학술대회논문집
- 1993.10a
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- Pages.889-894
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- 1993
Robust adaptive controller design for robot manipulators
로봇 매니퓰레이터에 대한 강인한 적응 제어기의 설계
- Jung, Seok-Woo (Dept. of Electronics Eng., Chungnam National Univ.) ;
- Lyou, Joon (Dept. of Electronics Eng., Chungnam National Univ.)
- Published : 1993.10.01
Abstract
This paper presents a robust adaptive control scheme based on the Lyapunov design for robot manipulators subjected to inertial parameter uncertainties and bounded torque disturbances. The scheme is a modified version of the adaptive computed torque method which adopts a dead zone into the adaptation mechanism so as to avoid parameter drifts by disturbances. It is shown via stability analysis and computer simulations that all the signals in the overall adaptive system are bounded and tracking errors lie within a prespecified bound.
Keywords