非線形PI制御による摩擦補償を用いたロボットアーム適応軌道制御系の応答改善

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2014/09/01

タイトル(英語): Response improvement of Adaptive Trajectory Control of Rigid Link Robot Arm with Friction Compensation by Nonlinear PI Control Method

著者名: 柴山　拓人（防衛大学校電気電子工学科），板宮　敬悦（防衛大学校電気電子工学科），澤田　雅栄（航空幕僚監部）

著者名(英語): Takuto Shibayama (Department of Electrical and Electronic Engineering, National Defence Academy), Keietsu Itamiya (Department of Electrical and Electronic Engineering, National Defence Academy), Masataka Sawada (Air Staff Office)

キーワード: ロボットアーム，適応軌道制御，摩擦補償　　robot arm，adaptive trajectory control，friction compensation

要約(英語): This paper proposes a new adaptive trajectory controller in order to realize a good transient performance of trajectory control system for a 2 degree of freedom planer rigid robot arm. This is an improved version of the controller proposed in literature(2) and consists of a new friction compensator and a dynamic certainty equivalent adaptive controller. The former does not use any friction models. It is designed as a nonlinear PI controller which directly compensate friction torque. The latter is designed so as to be robust to load change. Then, adjustable parameters are tuned by a dead zone adaptation law which is robust to the existence of bounded friction compensation error. The effectiveness of the proposed controller is verified by a simple analysis and numerical simulation results.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.134 No.9 （2014） 特集Ⅰ：制御系設計における適応・学習・同定・モデリングの新展開　特集Ⅱ：インテリジェント・システム

本誌掲載ページ: 1191-1199 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/134/9/134_1191/_article/-char/ja/