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논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- 대한기계학회 Journal of Mechanical Science and Technology Journal of Mechanical Science and Technology Vol.21 No.1
- 발행연도
- 2007.1
- 수록면
- 57 - 73 (17page)
이용수
초록· 키워드
오류제보하기
A control design for flexible joint manipulator in the presence of nonlinearity and mismatched uncertainty is introduced. The control does not need the possible bound of uncertainty a priori. Only the existence of the bound is assumed. A state transformation is introduced via implanted control to tackle a mismatched system. The scheme utilizes the bounding function by combining states and parameters, which is to be estimated. Then an appropriate parameters update laws are designed to guarantee an asymptotic convergency by adopting Lyapunov approach. The control version shows that states converge to zero for the transformed system, and guarantees the uniform stability and boundness. This is also true for the original system in case either the gravitational force is absent or the system is coordinated such that the gravitational force converges to zero as link angles approach zero. The control performance is verified through experiments and shows an enhanced tracking performance for given references.
목차
1. Introduction
2. Flexible Joint Manipulators
3. Adaptive Version of Robust Control
4. Experimental Verification
5. Conclusions
Appendix
References
참고문헌 (13)
참고문헌 신청
Abdollahi, F., Talebi, H. A. and Patel, R. V., 2003, "State Estimation for Flexible-Joint Manipulators Using Stable Neural Networks," Proceeding of IEEE International Symposium on Computational Intelligence in Robotics and Automation, pp.25~29.
Amjadi, F. R., Khadem, S. E. and Khaloozadeh, H., 2001, "Position and Velocity Control of a Flexible Joint Robot Manipulator via a Fuzzy Controller Based on Singular Perturbation Analysis," The 10th IEEE International Conference on Fuzzy Systems, pp.348~3
Chen, Y. H. and Leitmann, G., 1987, "Robustness of Uncertain System in the Absence of Matching Assumption," International Journal of Control, Vol.45, pp.1527~1542.
Corless, M. J. and Leitmann, G., 1984, "Adaptive Control for Uncertain Dynamical Systems," in; Blaquiere, A., and Leitmann, G., (eds.), Mathematical Theory of Dynamical Systems and Microphysics: Control Theory and Mechanics, Academic Press, New York.
Ficola, A., Marino, R. and Nicosia, S., 1983, "A Singular Perturbation Approach to the Control of Elastic Joints," Proceedings 21st Annual Allerton Conference on Communication, Control, and Computing, IL, pp.220~225.
Amjadi, F. R., Khadem, S. E. and Khaloozadeh, H., 2001, "Position and Velocity Control of a Flexible Joint Robot Manipulator via a Fuzzy Controller Based on Singular Perturbation Analysis," The 10th IEEE International Conference on Fuzzy Systems, pp.348~3
Chen, Y. H. and Leitmann, G., 1987, "Robustness of Uncertain System in the Absence of Matching Assumption," International Journal of Control, Vol.45, pp.1527~1542.
Corless, M. J. and Leitmann, G., 1984, "Adaptive Control for Uncertain Dynamical Systems," in; Blaquiere, A., and Leitmann, G., (eds.), Mathematical Theory of Dynamical Systems and Microphysics: Control Theory and Mechanics, Academic Press, New York.
Ficola, A., Marino, R. and Nicosia, S., 1983, "A Singular Perturbation Approach to the Control of Elastic Joints," Proceedings 21st Annual Allerton Conference on Communication, Control, and Computing, IL, pp.220~225.
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