구동기 고장과 불확실성을 가지는 로봇 매니퓰레이터에 대한 강인한 적응 제어

Robust Adaptive Control for Robot Manipulators with Actuator Failures and Uncertainties

In normal robot control systems, it is assumed that actuator torque coefficients applied at each joint have normally 1 all the time. However, it is more practicable that actuator torque coefficients applied at each joint are nonlinear time-varying. In other words, it has to be considered that actuators equipped at joints may fail. As factors of performance degradation of robots, both actuator failures and wucertainties are considered in this paper at the same time. This paper proposes a robust adaptive control scheme to maintain the required performance and achieve task completion for robot manipulators with performance degradation due to actuator failures and uncertainties. Simulation study is performed to show the feasibility and validity of the proposed robust adaptive control scheme.