论文信息 - Self-Adaptive Robust Control of Joint Robots for Modeling Error

Self-Adaptive Robust Control of Joint Robots for Modeling Error

For joint robot system contains inevitable model error in the modeling process, an effective method is proposed for self-adaptive stability control in this paper. After building the robot dynamics model, error factors are analyzed in the model. Based on robust control theory, an improved self-adaptive PID controller is designed and its Lyapunov stability is verified. Finally, by simulation for a two-link manipulator, the result which shows the control method has well efficiency and practicality for robust stability control. The results will be significant for the precise control of the robot system.

Yang Yang | Peng Su

[1] K. Narendra,et al. A new adaptive law for robust adaptation without persistent excitation , 1987 .

[2] Shuzhi Sam Ge,et al. Adaptive Neural Network Control of Robotic Manipulators , 1999, World Scientific Series in Robotics and Intelligent Systems.

[3] Shuzhi Sam Ge,et al. Adaptive neural network control of robot manipulators in task space , 1997, IEEE Trans. Ind. Electron..

[4] Henk Nijmeijer,et al. An addendum on “Robust control of robots by the computed torque method” , 1992 .

[5] M. Spong,et al. Robot Modeling and Control , 2005 .

[6] Mohamed Jallouli,et al. Adaptive robust tracking control for mobile manipulators in the task-space under uncertainties , 2011, Int. J. Intell. Comput. Cybern..