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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;
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