Robust model reference adaptive control of underactuated robot manipulators

Author

Kim, Min-Soeng ; Oh, Sang-Keon ; Shin, Jin-Ho ; Lee, Ju-Jang

Author_Institution

Dept. of EE & CS, Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea

Volume

3

fYear

2001

fDate

2001

Firstpage

1579

Abstract

A robust control scheme, overcoming the uncertainty in an underactuated robot manipulator, is proposed based on the sliding mode and MRAC (model reference adaptive control) schemes. By introducing the model reference adaptive technique and robust control algorithm, the dynamic response of each joint of underactuated manipulators can be pre-determined without exact knowledge of the system parameters. To show the effectiveness of the proposed algorithm, simulations for a 2-link underactuated robot with 1 fault joint are done

Keywords

control system analysis; control system synthesis; dynamic response; manipulators; model reference adaptive control systems; robust control; variable structure systems; MRAC; control algorithm; control design; control simulation; dynamic response; robust model reference adaptive control; sliding mode control; underactuated robot manipulators; Actuators; Adaptive control; Control systems; Equations; Manipulator dynamics; Manufacturing industries; Programmable control; Robots; Robust control; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 2001. Proceedings. ISIE 2001. IEEE International Symposium on

Conference_Location

Pusan

Print_ISBN

0-7803-7090-2

Type

conf

DOI

10.1109/ISIE.2001.931942

Filename

931942