Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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A Real-time Control of Adaptive Controller via Non-linear Estimated State Feedback for Robot Manipulator using MatrixX and DSP

MatrixX 와 DSP를 이용한 Robot Manipulator용 비선형 관측기의 상태 피드백에 의한 적응제어기의 실시간 제어

  • Gil, Jin-Soo (Department of Control and Instrumentation Engineering, Ajou University) ;
  • Kim, Young-Soo (Department of Control and Instrumentation Engineering, Ajou University) ;
  • Hong, Suk-Kyo (Department of Control and Instrumentation Engineering, Ajou University)
  • 길진수 (아주대학교 제어계측공학과) ;
  • 김영수 (아주대학교 제어계측공학과) ;
  • 홍석교 (아주대학교 제어계측공학과)
  • Published : 1995.07.20
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Abstract

In this paper, an adaptive nonlinear observer using new Off-line algorithm is proposed to reduce the computing time. The estimated velocity data obtained from the control scheme is more accurate than that by the normal interpolation method when the velocity to be estimated is at the low speed or the fast speed. It is also shown that the adaptive controller based on AC100/C30 is useful for implementing the real-time controller.

Keywords