직접 적응제어방식에 의한 로봇 머니퓰레이터의 견실한 제어기 설계에 관한 연구

摘要

This paper deals with the robust controller design of robot manipulator to track a desired trajectory in spite of the presence of unmodelled dynamics in cause of nonlinearity and parameter uncertainty. The approach followed in this paper is based on model reference adaptive control technique and convergence on hyperstability theory but it does away with the assumption that process is characterized by a linear model remaining time invariant during adaptation process. The performance of controller is demonstrated by computed simulation about position and speed control of six link manipulator in case of disturbance and payload variation.