International Journal of Precision Engineering and Manufacturing

  • 제5권3호
  • /
  • Pages.77-84
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  • 2004
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  • 2234-7593(pISSN)
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  • 2005-4602(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

Robust Optimal Control of Robot Manipulators with a Weighting Matrix Determination Algorithm

  • Kim, Mi-Kyung (School of Electrical Engineering, University of Ulsan) ;
  • Kang, Hee-Jun (School of Electrical Engineering, University of Ulsan)
  • 발행 : 2004.07.01
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초록

A robust optimal control design is proposed in this study for rigid robotic systems under the unknown loads and the other uncertainties. The uncertainties are reflected in the performance index, where the uncertainties are bounded for the quadratic square of the states with a positive definite weighting matrix. An iterative algorithm is presented for the determination of the weighting matrix required for necessary robustness. Computer simulations have been done for a weight-lifting operation of a two-link manipulator and the simulation results shows that the proposed algorithm is very effective for a robust control of robotic systems.

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참고문헌

  1. Lewis, F. L., Abdallah, C. T., Dawson, D. M., Control of Robot Manipulators, Macmillan, 1993
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  3. Chen, Bor-Sen, Chang, Yeong-Chan, 'Nonlinear mixed control for robust tracking design of robotic systems,' International Journal of Control, Vol. 67, No. 6, pp. 837-857, 1997 https://doi.org/10.1080/002071797223811
  4. Lin, Feng, Brandt, Robert D., 'An Optimal Control Approach to Robust Control of Robot Manipulators,' IEEE Trans. on Robotics and Automation, Vol. 14, No. 1, pp. 69 - 77, 1998 https://doi.org/10.1109/70.660845