대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1992년도 하계학술대회 논문집 A
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- Pages.344-346
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- 1992
로보트 매니퓰레이터의 강인한 하이브리드 제어
Robust Hybrid Control for Robot Manipulators
- Koo, Keun-Mo (Dept. of Elec. Eng., KAIST) ;
- Myeong, Hyeon (Dept. of Elec. Eng., KAIST) ;
- Kim, Jong-Hwan (Dept. of Elec. Eng., KAIST)
- 발행 : 1992.07.23
초록
In this paper a robust hybrid control algorithm for n-link nonredundant robot manipulators is proposed. This scheme includes an estimation law for the upper bound on the uncertainty such that robust control input is updated as a function of the estimated upper bound. The uniform ultimate boundedness of the tracking error is generated by the Lyapunov based theory.
키워드