Lyapunov 설계에 입각한 로보트 매니퓰레이터의 적응제어

Adaptive Control of Robot Manipulators Using Lyapunov Design

This paper prexents an adaptive control scheme which adjusts any deviations of the manipulator from a desired trajectory. The scheme combines a new adaptive control and the conventional nominal control which drives the manipulator to the neighborhood of the trajectory. The proposed adaptive control is developed based on the lineatized perturbation equations in the vicinity of the trajectory and the Lyapunov design method, which makes the perturbations exponentially decay and has less computational requirements than the existing ones.