Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Decentralized Robust Adaptive Control for Robot Manipulators with Input Torque Saturation

입력 토크 포화를 갖는 로봇 매니퓰레이터에 대한 분산 강인 적응 제어

  • Shin, Jin-Ho (Department of Mechatronics Engineering, College of ICT Engineering, Dong-eui University)
  • 신진호 (동의대학교 ICT공과대학 메카트로닉스공학과)
  • Received : 2015.10.05
  • Accepted : 2015.11.03
  • Published : 2015.12.01
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Abstract

This paper proposes a decentralized robust adaptive control scheme for robot manipulators with input torque saturation in the presence of uncertainties. The control system should consider the practical problems that the controller gain coefficients of each joint may be nonlinear time-varying and the input torques applied at each joint are saturated. The proposed robot controller overcomes the various uncertainties and the input saturation problem. The proposed controller is comparatively simple and has no robot model parameters. The proposed controller is adjusted by the adaptation laws and the stability of the control system is guaranteed by the Lyapunov function analysis. Simulation results show the validity and robustness of the proposed control scheme.

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References

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