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Robust Predictive Control of Robot Manipulators with Uncertainties

불확실 로봇 매니퓰레이터의 견실 예측 제어기 설계

  • 김정관 (부산대학교 지능기계공학과) ;
  • 한명철 (부산대학교 기계공학부)
  • Published : 2004.01.01

Abstract

We present a predictive control algorithm combined with the robust robot control that is constructed on the Lyapunov min-max approach. Since the control design of a real manipulator system may often be made on the basis of the imperfect knowledge about the model, it is an important trend to design a robust control law that guarantees the desired properties of the manipulator under uncertain elements. In the preceding robust control work, we need to tune several control parameters in the admissible set where the desired stability can be achieved. By introducing an optimal predictive control technique in robust control we can find out much more deterministic controller for both the stability and the performance of manipulators. A new class of robust control combined with an optimal predictive control is constructed. We apply it to a simple type of 2-link robot manipulator and show that a desired performance can be achieved through the computer simulation.

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