A Family of a Decentralized Adaptive Control for Robotic Manipulators

로봇 매니퓰레이터의 분산 적응제어군

In this paper, a family of decentralized adaptive controller is proposed to control robot manipulators which are governed by highly nonlinear dynamic equations. The controller is computationally efficient since it does not require mathematical model or parameter values of the manipulators. The stability of the manipulators with the controller is proved by Lyapunov theory. The results of numerical simulations show that the system is stable, and has excellent trajectory tracking performance.