| Title |
Design of a Robust Controller for Position Control of a Small One-Link Robot Arm with Input Time-Delay |
| Authors |
정구종(Jeong, Goo-Jong) ; 김인혁(Kim, In-Hyuk) ; 손영익(Son, Young-Ik) |
| Keywords |
Time-Delay ; One-Link Robot Arm ; Robust Control ; Smith Predictor ; Disturbance Observer |
| Abstract |
This paper deals with a robust controller design problem for a small one-link robot arm system subject to input time delay and load variations. The uncertain parameters of the system are considered as a disturbance input. A disturbance observer(DOB) has been designed to alleviate disturbance effects and to compensate performance degradation owing to the time-delay. This paper employs a new DOB structure for non-minimum phase systems together with the Smith predictor. We propose a new controller for reducing the both effects of disturbance and time-delay. In order to test the performance of proposed controller, four different other control laws are compared with the proposed one by computer simulations. The simulation results show the effectiveness of the proposed control method. |