A Robust Adaptive Controller Design and Implementation for a Direct Drive Manipulator with Unmodeled Dynamics

직접 구동형 매니퓰레이터의 비모형화 특성을 고려한 강인한 적응 제어기의 설계 및 구현

In this paper we deal with the design and implementation problem of a robust adaptive controller for a direct drive manipulator with unmodeled dynamics. The proposed controller ensures that the closed loop system is stable and output errors are converged to some boundary. To validate the improved performance of the proposed controller experimental results are presented in this paper.