Journal of Electrical Engineering and information Science
- 제1권1호
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- Pages.39-44
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- 1996
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- 1226-1262(pISSN)
Implementation of Robust Adaptive Controller with Switching Action for Direct Drive Manipulators
- Kim, Eung-Seok (Department of System Control Laboratory, Samsung Advanced Institute of Technology) ;
- Lim, Mee-Seub (Devision of Electronics and Informations Technology, Korea Institute of Science and Technology) ;
- Kim, Kwon-Ho (Devision of Electronics and Informations Technology, Korea Institute of Science and Technology) ;
- Kim, Kwang-Bae (Devision of Electronics and Informations Technology, Korea Institute of Science and Technology)
- 발행 : 1996.03.01
초록
In this paper, adaptive controller with switching action is designed for rigid body robot manipulators to ensure the uniform stability of the manipulator system without a priori knowledge of the unmodeled dynamics. It will be shown that the parameter estimates are bounded independent of the other closed-loop signals boundedness, and also shown that the tracking error belongs to the normalized error bound via mathematical analisys. The robustness and performance of the proposed adaptive controller is investigated for the two-link direct drive manipulator actuated by VRM(Variable Reluctance Motor).
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