ROBUST-CONTROL OF ROBOT MANIPULATORS WITH PARAMETRIC UNCERTAINTY

被引:41
|
作者
KOO, KM
KIM, JH
机构
[1] Department of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), –1 Kusung-dong, Yusung-gu
关键词
Control theory;
D O I
10.1109/9.293183
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This note proposes a robust control law for n-link robot manipulators with parametric uncertainty whose upper bound is not assumed to be known. The proposed robust control based on the Corless-Leitmann approach includes a simple estimation law for the upper bound on the parametric uncertainty and an additional control input to be updated as a function of the estimated value. Using the Lyapunov stability theory, the uniform ultimate boundedness of the tracking error is proved.
引用
收藏
页码:1230 / 1233
页数:4
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