Robust control of robot manipulator by model-based disturbance attenuation

被引：15

作者：

Choi, CH ^{[1
]}

Kwak, N

机构：

[1] Seoul Natl Univ, Sch Elect Engn & Comp Sci, Seoul 151742, South Korea

[2] Seoul Natl Univ, Automat & Syst Res Inst, Seoul 151742, South Korea

来源：

IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2003年 / 8卷 / 04期

关键词：

Liapunov function; model-based disturbance attenuator (MBDA); position control; robot manipulators; stability;

D O I：

10.1109/TMECH.2003.820023

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 [计算机科学与技术];

摘要：

In this letter, a model-based disturbance attenuator (MBDA) for robot manipulators is proposed and the stability of the MBDA in robot positioning problems is proved via Liapunov's direct method. This method does not require an accurate model of a robot manipulator and takes care of disturbances or modeling errors so that the plant output remains relatively unaffected by them. The output error due to the gravity or constant disturbance can be effectively eliminated by this method.

引用

页码：511 / 513

页数：3