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Variation of Modified Simple Adaptive Control for a Two-Link Planar Robot

Title
Variation of Modified Simple Adaptive Control for a Two-Link Planar Robot
Authors
박용찬
Date Issued
2014
Publisher
포항공과대학교
Abstract
This 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.
URI
http://postech.dcollection.net/jsp/common/DcLoOrgPer.jsp?sItemId=000001736566
http://oasis.postech.ac.kr/handle/2014.oak/2254
Article Type
Thesis
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