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Variation of Modified Simple Adaptive Control for a Two-Link Planar Robot : 변형된 수정단순적응제어기의 2축 평면 로봇팔 적용 원문보기

  • 저자

    박용찬

  • 학위수여기관

    포항공과대학교 일반대학원

  • 학위구분

    국내석사

  • 학과

    전자전기공학과 제어

  • 지도교수

    원상철

  • 발행년도

    2014

  • 총페이지

    40

  • 키워드

    manipulator control position control adaptive control;

  • 언어

    eng

  • 원문 URL

    http://www.riss.kr/link?id=T13533488&outLink=K  

  • 초록

    This paper proposes an adaptive control law to enable the end effector of a 2-link planar robot manipulator to track a square path. The proposed control law is similar to the Modified Simple Adaptive Control (MSAC) law, but by adding a weighting function to gains of the MSAC, we cope with the case that the error is large like the position of end effector away from the desired path. By adding a weighting function, we improve the sensitivity of the adaptive gains to error. Stability analysis showed that the system is asymptotically stable and that the controller can regulate errors to zero. In simulations, the modified method improved adaptation to errors and reducing the control torque, while maintaining a similar tracking result.


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