АДАПТИВНОЕ УПРАВЛЕНИЕ ДВУХЗВЕННЫМ РОБОТОМ-МАНИПУЛЯТОРОМ
Published:
2023-12-22Article language:
RussianViews:
103Keywords:
адаптивное управление, пропорционально-интегрально-дифференциальное (ПИД) управление, силовое управление, гиперустойчивостьAbstract
Abstract. The article presents a new model of adaptive control of a two-link robot-manipulator, developed on the basis of Lyapunov's stability theory and hyperstability theory. The adaptive control method and the Lyapunov theory are subsequently applied to the end-effector kinematic control and force control to ensure a safe working environment. The hyperstability approach involves designing a model of control system by combining a proportional-integral-derivative (PID) control system with an adaptive control system reference model. The convergence behavior and other control characteristics of this integrated system are then compared with those of the individual PID control system and the reference adaptive control system.
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