The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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Design of a Robust Controller for Position Control of a Small One-Link Robot Arm with Input Time-Delay

입력 시간지연이 존재하는 소형 1축 로봇 팔 위치제어를 위한 강인 제어기 설계

  • Received : 2010.02.04
  • Accepted : 2010.05.03
  • Published : 2010.06.01
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Abstract

This paper deals with a robust controller design problem for a small one-link robot arm system subject to input time delay and load variations. The uncertain parameters of the system are considered as a disturbance input. A disturbance observer(DOB) has been designed to alleviate disturbance effects and to compensate performance degradation owing to the time-delay. This paper employs a new DOB structure for non-minimum phase systems together with the Smith predictor. We propose a new controller for reducing the both effects of disturbance and time-delay. In order to test the performance of proposed controller, four different other control laws are compared with the proposed one by computer simulations. The simulation results show the effectiveness of the proposed control method.

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References

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