제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A study on the model follwing adaptive control system of industrial robtoic manipulatior for factory automation

  • Han, Sung-Hyun (Dept. of Mechanical Engineering, Pusan National Univ.) ;
  • Lee, Man-Hyung (Dept. of Mechanical Engineering, Pusan National Univ.)
  • Published : 1988.10.01
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Abstract

Adaptive control system has evolved as an attempt to avoid degradation of the dynamic performance of a control system when environmental variations occurs. While the feedback control system is oriented toward the elimination of the effect of state perturbations, the adaptive control system is oriented toward the elimination of the effect of structural perturbation, upon the performances of the control system. The model reference adaptive controller is utilized in velocity loop controller for positioning and tracking is designed based on the linear decoupled dynamics.

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