Journal of the Korean Society of Industry Convergence (한국산업융합학회 논문집)

The Korean Society of Industry Convergence (한국산업융합학회)
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A Nonlinear Robust Control of Robot Arm with Four Joints Based on Lyapunov Stability Analysis

리아프노프 안정성 해석에 기준한 4축 로봇 아암의 비선형 견실제어

  • Received : 2015.06.22
  • Accepted : 2015.07.28
  • Published : 2015.08.31
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Abstract

In this paper, we proposed a new robust control scheme to implement stable control of robot manipulators including nonlinear perameters The proposed robust controller is composed of a nonlinear controller and linear compemsation controller. It shows a good robust performance in reaching mode which does not possess invariance property. Thus, the proposed nonlinear controller showed a good robust performance in the whole region, It was illustrated that the proposed control showed a good transient response and trajectory tracking performance for robot manipulator with four joint by experiments.

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References

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