대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2005년도 학술대회 논문집 정보 및 제어부문
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- Pages.89-91
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- 2005
적분기를 포함하는 시각궤환 강인제어기를 사용한 로봇 제어
Control of Robot Manipulators Using Robust Visual Feedback Controller with Integrator
- 발행 : 2005.10.28
초록
In this paper, we propose a robust visual feedback controller with integral action for tracking control of n-link robot manipulators in the presence of constant bounded parametric uncertainties. The proposed control input has robustness to the parametric uncertainty and reduces tracking error in the steady-state. The stability of the closed-loop system is shown by Lyapunov method. The effectiveness of the proposed method is shown by simulation results on the 5-link robot manipulators with two degree of freedom.