| Title |
Adaptive Control of Flexible Robot Actuators with Time-Varying Parameters |
| Authors |
박지호(Park, Ji-Ho) ; 조현철(Cho, Hyun-Cheol) |
| Keywords |
Robot Actuator ; Adaptive Control ; Time-Varying Parameter ; Lyapunov Theory ; Model Reference Control |
| Abstract |
Robot actuators are significantly important with respect to whole control system performance. This paper presents an adaptive control approach for flexible robot actuators with time-varying spring and damping nature. We first represent a perturbed system model with assumption that its information are partially known. Nominal model reference control method is employed for deriving our adaptive control law. We carry out numerical simulation to evaluate the proposed control system and compare simulation results to a well-known control method for demonstrating its effectiveness. |