Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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An Optimal Control Approach to Robust Control of Robot Manipulators

로봇 매니퓰레이터의 강인제어를 위한 최적제어로의 접근

  • 김미경 (울산대학교 전기전자정보시스템공학부) ;
  • 강희준 (울산대학교 전기전자정보시스템공학부)
  • Published : 2003.12.01
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Abstract

An optimal control approach to robust control design is proposed in this study for rigid robotic systems under the unknown load and the other uncertainties. The uncertainties are quadratically bounded for some positive definite matrix. Iterative method to find the matrix is shown. Simulations are made for a weight-lifting operation of a two-link manipulator and the robust control performance of robotic systems by the proposed algorithm is remarkable.

Keywords

References

  1. Lewis, F.L., Abdallah, C.T., Dawson, D.M., Control of Robot Manipulators, Macmillan, 1993
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  3. Chen, Bor-Sen, Chang, Yeong-Chan, 'Nonlinear mixed $H_2/H_{\infty}$ Control for Robust Tracking Design of Robotic Systems,' International Journal of Control, Vol. 67, No. 6, pp. 837-857, 1997 https://doi.org/10.1080/002071797223811
  4. Lin, Feng, Robert D. Brandt, 'An Optimal Control Approach to Robust Control of Robot Manipulators,' IEEE Trans. On Robotics and Automation, Vol. 14, No. 1, pp. 69-77, 1998 https://doi.org/10.1109/70.660845
  5. IEEE Trans. On Robotics and Automation v.14 no.1 An Optimal Control Approach to Robust Control of Robot Manipulators Lin,Feng;Robert D.Brandt