입력 토크 포화를 갖는 로봇 매니퓰레이터에 대한 분산 강인 적응 제어 (Decentralized Robust Adaptive Control for Robot Manipulators with Input Torque Saturation)

서지정보

· 발행기관 : 제어·로봇·시스템학회
· 수록지 정보 : 제어.로봇.시스템학회 논문지 / 21권 / 12호 / 1160 ~ 1166페이지
· 저자명 : 신진호

초록

This paper proposes a decentralized robust adaptive control scheme for robot manipulators with input torque saturation in the presence of uncertainties. The control system should consider the practical problems that the controller gain coefficients of each joint may be nonlinear time-varying and the input torques applied at each joint are saturated. The proposed robot controller overcomes the various uncertainties and the input saturation problem. The proposed controller is comparatively simple and has no robot model parameters. The proposed controller is adjusted by the adaptation laws and the stability of the control system is guaranteed by the Lyapunov function analysis. Simulation results show the validity and robustness of the proposed control scheme.

영어초록

This paper proposes a decentralized robust adaptive control scheme for robot manipulators with input torque saturation in the presence of uncertainties. The control system should consider the practical problems that the controller gain coefficients of each joint may be nonlinear time-varying and the input torques applied at each joint are saturated. The proposed robot controller overcomes the various uncertainties and the input saturation problem. The proposed controller is comparatively simple and has no robot model parameters. The proposed controller is adjusted by the adaptation laws and the stability of the control system is guaranteed by the Lyapunov function analysis. Simulation results show the validity and robustness of the proposed control scheme.

참고자료

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