Robust Adaptive Control of Autonomous Robot Systems with Dynamic Friction Perturbation and Its Stability Analysis

동적마찰 섭동을 갖는 자율이동 로봇 시스템의 강인적응제어 및 안정성 해석

  • Published : 2009.01.01


This paper presents a robust adaptive control method using model reference control strategy against autonomous robot systems with random friction nature. We approximate a nonlinear robot system model by means of a feedback linearization approach to derive nominal control law. We construct a Least Square (LS) based observer to estimate friction dynamics online and then represent a perturbed system model with respect to approximation error between an actual friction and its estimation. Model reference based control design is achieved to implement an auxiliary control in order for reducing control error in practice due to system perturbation. Additionally, we conduct theoretical study to demonstrate stability of the perturbed system model through Lyapunov theory. Numerical simulation is carried out for evaluating the proposed control methodology and demonstrating its superiority by comparing it to a traditional nominal control method.


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