한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제20권12호
  • /
  • Pages.176-182
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  • 2003
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

로봇 매니퓰레이터의 강인제어를 위한 최적제어로의 접근

An Optimal Control Approach to Robust Control of Robot Manipulators

  • 김미경 (울산대학교 전기전자정보시스템공학부) ;
  • 강희준 (울산대학교 전기전자정보시스템공학부)
  • 발행 : 2003.12.01
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초록

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.

키워드

참고문헌

  1. Lewis, F.L., Abdallah, C.T., Dawson, D.M., Control of Robot Manipulators, Macmillan, 1993
  2. Rolf Johansson, 'Quadratic Optimization of Motion Coordination and Control,' IEEE Trans. On Automatic Control, Vol. 35, No. 11, pp. 1197-1208, 1990 https://doi.org/10.1109/9.59805
  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