DocumentCode :
3224628
Title :
Adaptive robust optimal predictive control of robot manipulators
Author :
Kim, Jung-Kwan ; Han, Myung-Chul
Author_Institution :
Dept. of Mech. & Intelligent Syst. Eng., Pusan Nat. Univ., South Korea
Volume :
3
fYear :
2004
fDate :
2-6 Nov. 2004
Firstpage :
2819
Abstract :
In this paper, we firstly propose a robust optimal predictive control (ROPC) scheme. In the ROPC scheme proposed, an optimal predictive control (OPC) is combined with a robust control that is constructed on the Lyapunov min-max approach. Since the control design of a real system may often be made on the basis of the imperfect knowledge about the model, it is an important trend to design the robust control law that guarantees the desired properties of the system under uncertain elements. By introducing the OPC technique in robust control here, we can find out much more deterministic controller for both the stability and the performance of uncertain nonlinear systems. Secondly, we propose the adaptive version of the ROPC scheme (AROPC). In the AROPC scheme proposed here, the adaptation law estimates the bounds of uncertainties of the system, and the robust control uses these estimates. This scheme is strongly useful in the case that the bounds of uncertainties are not known or known roughly. The analysis of the stability in the sense of Lyapunov is performed. We apply these algorithms to a simple type of 2-Iink robot manipulator and perform the simulations.
Keywords :
Lyapunov methods; adaptive control; manipulator dynamics; minimax techniques; nonlinear control systems; optimal control; predictive control; robust control; uncertain systems; 2-Iink robot manipulator; Lyapunov min-max approach; Lyapunov stability; adaptation law; adaptive control; robust optimal predictive control; uncertain nonlinear system; Adaptive control; Control design; Control systems; Manipulators; Nonlinear control systems; Predictive control; Programmable control; Robots; Robust control; Uncertainty;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industrial Electronics Society, 2004. IECON 2004. 30th Annual Conference of IEEE
Print_ISBN :
0-7803-8730-9
Type :
conf
DOI :
10.1109/IECON.2004.1432255
Filename :
1432255
Link To Document :
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