A Study on Robust Controller Design of Robotic Manipulator Using Direct Adaptive Control

J. Ocean Eng. Technol. 1989;3(2):59-69.

Han Sung-Hyun,Park Han-Il

직접 적응제어방식에 의한 로봇 머니퓰레이터의 견실한 제어기 설계에 관한 연구

한성현,박한일

부산대학원 기계공학과,해양대학교 해양공학과

Keywords: Unmodelled Dynamics, Manipulator, Modelling Error, Robustness, Direct Adaptive Control

핵심용어: 비모형화 동특성, 머니퓰레이터, 모델링오차, 견실성, 직접적응제어

Abstract

This paper deals with the robust controller design of robot manipulator to track a desired trajectory in spite of the presence of unmodelled dynamics in cause of nonlinearity and parameter uncertainty. The approach follwed in this paper is based on model reference adaptive control technique and convergence on hyperstability theory but it does away with the assumption that process is characterized by a linear model remaining time invariant during adaptation process. The performance of controller is demonstrated by computed simulation about position and speed control of six link manipulator in case of disturbance and payload variation.