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Decentralized Adaptive Control of Robot Manipulators  

이수한 (울산대학교 기계자동차공학부)
이용연 (울산대학교 대학원 기계자동차공학과)
신규현 (울산대학교 대학원 기계자동차공학과)
Publication Information
Journal of the Korean Society for Precision Engineering / v.21, no.11, 2004 , pp. 110-116 More about this Journal
Abstract
In this paper, a decentralized adaptive controller is proposed to control robot manipulators which are governed by highly nonlinear dynamic equations. The controller is computationally efficient since it does not require mathematical model or parameter values of robot manipulators. The stability of the manipulators with the controller is proved by Lyapunov theory. The results of numerical simulations show that the system is stable, and has excellent trajectory tracking performance.
Keywords
Adaptive control; Robot manipulators; Decentralized control; Lyapunov theory;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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