Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1991.07a
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- Pages.777-780
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- 1991
A study on the Discrete-Time Adaptive Control for Robot Maninpulator
로보트 매니퓰레이터의 이산 시간 적응제어에 관한 연구
- Sung, Kwan-Young (Dept. of Electrical Eng., Kon-Kuk Univ.) ;
- Lee, Un-Cheol (Dept. of Electrical Eng., Kon-Kuk Univ.) ;
- Yoo, Jae-Guen (Dept. of Electrical Eng., Kon-Kuk Univ.) ;
- Nam, Moon-Hyun (Dept. of Electrical Eng., Kon-Kuk Univ.)
- Published : 1991.07.18
Abstract
The practical implementation of model reference adaptive systems(MRAS) using digital computer requires the derivation of discrete-time adaptation laws. This is specially important in the case of direct driver robot and light weight manipulator where inertia changes ang gravity effects are significant. We develope a discrete-time model reference adaptive control scheme for trajectory tracking of robot manipulator. Instead of the conventional Lyapunov approach hyperstabillty theory is more appealing than the Lyapunov approach. It is better suited to discrete time systems and offers more flexibility in design by providing additional free design parameters.
Keywords