Self-Adaptive Robust Control of Joint Robots for Modeling Error

Peng Su; Yang Yang

doi:10.4028/www.scientific.net/AMM.422.226

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 422Self-Adaptive Robust Control of Joint Robots for...

Self-Adaptive Robust Control of Joint Robots for Modeling Error

Abstract:

For joint robot system contains inevitable model error in the modeling process, an effective method is proposed for self-adaptive stability control in this paper. After building the robot dynamics model, error factors are analyzed in the model. Based on robust control theory, an improved self-adaptive PID controller is designed and its Lyapunov stability is verified. Finally, by simulation for a two-link manipulator, the result which shows the control method has well efficiency and practicality for robust stability control. The results will be significant for the precise control of the robot system.

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Periodical:

Applied Mechanics and Materials (Volume 422)

Pages:

226-231

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.422.226

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Online since:

September 2013

Authors:

Peng Su, Yang Yang

Keywords:

Modeling Error, Robust, Self-Adaptive, Stability

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