Robust Adaptive Control for Manipulator System
A robust adaptive controller is proposed in this paper, aiming at nonlinearity, time variance and multi parameter couple of manipulator driven by motors. In this paper, the manipulator model is changed to be linear uncertain system and a filter with an integrator is designed. The updated laws of ideal current and unknown quantities are derived by the filter, and then the controller of motor is designed with the ideal current to be final control law. Based on the Lyapunov stability theory, this paper analyzes stability of robust adaptive controller and obtains the sufficient conditions of stability. The simulation results show that the system with proper controller parameters has good dynamic characteristic, tracking characteristic and robustness.
robust control adaptive manipulator
Sun Xiaobo
Institute of Automation Engineering Harbin University of Science and Technology Harbin,China
国际会议
长沙
英文
855-859
2009-04-11（万方平台首次上网日期，不代表论文的发表时间）