A PD Robust Controller Design and Simulation based on Two-link Manipulator under Given Upper Bound Disturbance

摘要：

　　For industrial robot manipulator system,PD control theory is extensively used in the dynamic characteristics controlling.A PD robust controller is introduced to optimize the stability and convergence of traditional PD controller and avoid excess initial driving torque for two-link industrial manipulator system.By the co-simulation on ADAMS and Matlab/Simulink,the paper designs a PD robust controller under given upper bound disturbance and completes track control and driving torque trial.Through result comparison and analysis,the superiority of the PD robust controller for two-link manipulator is verified.

关键词： two-link manipulator PD robust control given upper bound disturbance ADAMS Matlab/Simulink co-simulation

作者: Jiyan Wang Yuxia Zhuang

作者单位: School of Mathematics & Physics,Shandong Jiaotong University,5 Jiaoxiao Road,Jinan 250023,Shandong,C Jinan Nursing Vocational College Public Teaching Department,3636 Gangxi Roud,Licheng District,Jinan

会议类型: 国际会议

会议名称: the 2012 2nd International Conference on Frontiers of Manufacturing Science and Measuring Technology (第二届制造科学与检测技术国际会议(ICFMM 2012))

会议地点: 西安

会议语种:英文

页码: 1540-1544

在线出版日期: 2012-06-12（万方平台首次上网日期，不代表论文的发表时间）