Browse > Article

Adaptive Control of Flexible Robot Actuators with Time-Varying Parameters  

Park, Ji-Ho (동명대 메카트로닉스공학과)
Cho, Hyun-Cheol (동아대 전기공학과)
Publication Information
The Transactions of the Korean Institute of Electrical Engineers P / v.57, no.3, 2008 , pp. 250-254 More about this Journal
Abstract
Robot actuators are significantly important with respect to whole control system performance. This paper presents an adaptive control approach for flexible robot actuators with time-varying spring and damping nature. We first represent a perturbed system model with assumption that its information are partially known. Nominal model reference control method is employed for deriving our adaptive control law. We carry out numerical simulation to evaluate the proposed control system and compare simulation results to a well-known control method for demonstrating its effectiveness.
Keywords
Robot Actuator; Adaptive Control; Time-Varying Parameter; Lyapunov Theory; Model Reference Control;
Citations & Related Records
연도 인용수 순위
  • Reference
1 R.-J. Wai and M.-C. Lee, "Intelligent optimal control of single-link flexible robot arm," IEEE Trans. on Industrial Electronics, vol. 51, no. 1, pp. 201-220, 2004   DOI   ScienceOn
2 F. L. Lewis, C. T. Abdallah, and D. M. Dawson, Control of robot manipulators, Prentice Hall, 1993
3 I. Shiraz, "Neural network control of two electrically driven cooperating 6 DOF robot manipulators," World Automation Congress, pp. 425-429, 2007
4 S. Purwar, I. N. Kar, and A. N. Jha, "Adaptive output feedback tracking control of robot manipulators using position measurements only," Expert Systems with Applications, vol. 34, no. 4, pp. 2789-2798, 2008   DOI   ScienceOn
5 S. Murai and Y. Fujimoto, "Control of spring actuactor and its application to biped robot," IEEE Int. Workshop on Advanced Motion Control, pp. 411-415, 2006
6 T. T. Lee and J. T. Jeng, "The Chebyshev polynomial based unified model neural networks for function approximations," IEEE Trans. Systems, Man & Cybernetics: Part-B, vol. 28, pp. 925-935, 1998   DOI   ScienceOn
7 G. Liu, "Control of robot manipulators with consideration of actuator performance degradation and failures," IEEE Int. Conf. on Robotics & Automation, vol. 3, pp. 2566-2571, 2001
8 R.-J. Wai and P.-C. Chen, "Intelligent tracking control for robot manipulator including actuator dynamic via TSK-type fuzzy neural network," IEEE Trans. on Fuzzy Systems, vol. 12, no. 4, pp. 552-559, 2004   DOI   ScienceOn
9 B. Curk and K. Jezenik, "Sliding mode control of with perturbation estimation: application on DD robot mechanism," Robotica, vol. 19, no. 6, pp. 641-648, 2001
10 T. Nguyen and O. Egeland, "Output tracking control of a flexible robot arm," IEEE Conf. Decision & Control, pp. 5269-5274, 2005