Title :
Adaptive motion control of a two-link direct drive manipulator using disturbance observer
Author :
Ratiroch-anant, Phornsuk ; Anabuki, Masatoshi ; Hirata, Hiroshi
Author_Institution :
Fac. of Eng., King Mongkut´´s Inst. of Technol., Ladkrabang, Thailand
Abstract :
The proposed system is realized by appending the disturbance observer to the type-2 servo in order to reduce the tracking error of trajectory control. Furthermore, the adaptive control is applied to control the deterioration of the tracking performance by the variation of payload. It is verified by the practical experiment that the adaptive control is very useful in the case of the nonlinear torque has small effect compared to the friction torque.
Keywords :
adaptive control; manipulators; motion control; observers; stability; adaptive motion control; disturbance observer; friction torque; nonlinear torque; payload variation; trajectory control tracking error; two-link direct drive manipulator; type-2 servo; Adaptive control; Control systems; Drives; Error correction; Friction; Motion control; Payloads; Programmable control; Servomechanisms; Trajectory;
Conference_Titel :
TENCON '02. Proceedings. 2002 IEEE Region 10 Conference on Computers, Communications, Control and Power Engineering
Print_ISBN :
0-7803-7490-8
DOI :
10.1109/TENCON.2002.1182667
