Title :
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
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;
Conference_Titel :
Industrial Electronics, 2001. Proceedings. ISIE 2001. IEEE International Symposium on
Conference_Location :
Pusan
Print_ISBN :
0-7803-7090-2
DOI :
10.1109/ISIE.2001.931942
