변형된 수정단순적응제어기의 2축 평면 로봇팔 적용

MasterThis 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

(A)Study on the conjunctive endings combinded with the auxiliary particle in late middle Korean

학위논문(박사)--서울대학교 대학원 :국어국문학과 국어학전공,2006.Docto

Gain-Switching Modified Simple Adaptive Control for a 2-link Planar Robot

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