INTEGRATION MODEL REFERENCE ADAPTIVE CONTROL AND EXACT LINEARIZATION WITH DISTURBANCE REJECTION FOR CONTROL OF ROBOT MANIPULATORS

被引：0

作者：

Le, Huy-Tung ^{[1
]}

Lee, Sang-Ryong ^{[1
]}

Lee, Choon-Young ^{[1
]}

机构：

[1] Kyungpook Natl Univ, Sch Mech Engn, Deagu, South Korea

来源：

INTERNATIONAL JOURNAL OF INNOVATIVE COMPUTING INFORMATION AND CONTROL | 2011年 / 7卷 / 06期

关键词：

Model reference; Adaptive control; Exact linearization; Disturbance rejection; Adaptive GAS;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper proposes an adaptive global asymptotic stable (adaptive GAS) control scheme for the compensation of friction and disturbance effect to control robot manipulators. This control method integrates both model reference technique and exact linearization. In addition, it employs disturbance compensating mechanics to control the system to follow a linear reference model which has pole placement (on the left of the complex plane), even though modelling error, disturbance and noise exist. The simulation results of the 2DOF planar robot demonstrate the effectiveness of the proposed method.

引用

页码：3255 / 3267

页数：13

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