The Journal of Korean Institute of Information Technology (한국정보기술학회논문지)

Korean Institute of Information Technology (한국정보기술학회)
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Design of a Decentralized Adaptive Bounding Controller for a Robot System with Bounded Current and Voltage Inputs

제한된 전류 및 전압 입력을 가지는 로봇 시스템에 대한 분산형 적응 경계 제어기의 설계

  • Shin, Jin-Ho (Dept. of Electronic Engineering, Dong-eui University)
  • Received : 2016.09.02
  • Accepted : 2016.10.08
  • Published : 2016.10.31
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Abstract

This paper proposes a decentralized adaptive bounding control scheme for a robot system with bounded current and voltage inputs in the presence of uncertainties. Since the joint actuators of a robot generally use the electric motors and the motors are moved through the servo drive circuits driven by the currents and voltages, a robot control system considering the magnitude limitation of the currents and voltages should be designed. The proposed control system overcomes the various uncertainties including external disturbances and unknown model parameters, and a saturation problem of the input currents and voltages of each actuator. The proposed controller does not require any robot link and actuator model parameters. The stability of the total closed-loop control system is guaranteed by the Lyapunov stability analysis. The validity and robustness of the proposed control scheme are verified through simulation results.

본 논문은 불확실성의 존재에서 제한된 전류 및 전압 입력을 가지는 로봇 시스템에 대한 분산형 적응 경계 제어 기법을 제안한다. 로봇의 관절 구동기는 일반적으로 전기 모터를 사용하며, 모터는 전류와 전압에 의해 구동되는 서보 드라이브 회로를 통해 움직이기 때문에 전류와 전압의 크기 제한을 고려하는 로봇 제어 시스템이 설계되어야 한다. 제안된 제어 시스템은 외란과 미지의 모델 파라미터를 포함한 다양한 불확실성, 각 구동기의 입력 전류와 전압의 포화 문제를 극복한다. 제안된 제어기는 어떠한 로봇 링크와 구동기의 모델 파라미터들을 요구하지 않는다. 리아푸노프 안정도 해석에 의해 전체 폐루프 제어 시스템의 안정도가 보장된다. 시뮬레이션 결과를 통해 제안된 제어 기법의 타당성과 강인성이 검증된다.

Keywords

Acknowledgement

Supported by : 동의대학교

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