Adaptive Control of Robotic Manipulators Using Multiple Models and

다중모델과 스위칭을 이용한 로봇 매니퓰레이터의 적응제어

This paper deals with the tracking control problem of robotic manipulators with unknown or changing dynamics. The torque input applied to the joint actuators is determined at every instance by the identification model that best approximates the robot dynamics. The best of the identified model is chosen by the proposed switching mechanism with fuzzy inference of the manipulator in an indirect adaptive controller architecture. Simulation results are also included to demonstrate the improvement in the tracking performance when the proposed method is used.