Two-Link Robot Robust Tracking Control with the KDC Scheme

• Main Authors: Kun-Sheng Bai, 白昆勝
• Other Authors: Chi-Kuang Hwang
• Format: Others
• Language: en_US
• Published: 2005
• Online Access: http://ndltd.ncl.edu.tw/handle/08825557697326409416

碩士 === 中華大學 === 電機工程學系碩士班 === 93 === In the study we consider the model of the robot from kinematical behavior to design the kinematical tracking controller by using the Lyapunov stability theorem. Dynamic model of the robot is studied with consideration of the model uncertainty. Since disturbances and uncertainties have effects only on the dynamical model, the dynamical and kinematical controllers are separately designed. Therefore, the KDC scheme in thesis, which integrates kinematical controller and robust dynamical tracking controllers. We attempt to combine the control and control to guarantee a robust tracking performance for robot control systems with uncertain.