Design of Switching Direct Tracking Adaptive Control Law for Unknown Systems and Applications to Robotic Manipulators

• Main Authors: Shieh, Shyang-Chung, 謝祥忠
• Other Authors: Gau, Cheng-Chih
• Format: Others
• Language: zh-TW
• Published: 1998
• Online Access: http://ndltd.ncl.edu.tw/handle/11972263093524608887

碩士 === 國立中山大學 === 電機工程學系研究所 === 86 === 　　In this paper, we developed a rolbust adaptive ontrol called Switching Direct Tracking Adaptive Control Law (SDACL),for a class of vector systems with unknown constant paramelters and bounded disturbances. Comparing with Switching-σ Adaptive Control Law (SSACL), it achieves better response, needs fewer free design parameters. Besides the matrix B of SDTACL is not required to be known as that of SSACL. 　　We also proposed a new adaptive control called Switching Adaptive Control (SAC). The controller is shown to be robust with respect to bounded distur-bance and its analysis can conclude the estimated parameters will not drift to infinity in presence of bounded disturbance. The joint torques of SAC have no chattering phenomena since saturation function has not been used in the control law.