제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국제학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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- Pages.993-998
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- 1988
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.)
- 발행 : 1988.10.01
초록
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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