Điều khiển robot n bậc tự do
Author affiliations
DOI:
https://doi.org/10.15625/1813-9663/5/4/11179Abstract
A hybrid control scheme is presented in this paper for the control of manipulators which have uncertainties in parameters and disturbances. The robustness is achieved by applying the model reference Adaptive Approach in order to obtain the nonlinear compensation laws which do not require the exact knowledge of parameters and disturbances. At first modeling of discrete control system of n degree of freedom robot is analysed. Then using the second method of Lyapunov a control scheme is proposed which results in asymptotically stable system performance.
Metrics
Metrics Loading ...
Downloads
Published
01-02-2018
How to Cite
[1]
P. T. Cat, “Điều khiển robot n bậc tự do”, JCC, vol. 5, no. 4, p. 1–9, Feb. 2018.
Issue
Section
Cybernetics
License
1. We hereby assign copyright of our article (the Work) in all forms of media, whether now known or hereafter developed, to the Journal of Computer Science and Cybernetics. We understand that the Journal of Computer Science and Cybernetics will act on my/our behalf to publish, reproduce, distribute and transmit the Work.2. This assignment of copyright to the Journal of Computer Science and Cybernetics is done so on the understanding that permission from the Journal of Computer Science and Cybernetics is not required for me/us to reproduce, republish or distribute copies of the Work in whole or in part. We will ensure that all such copies carry a notice of copyright ownership and reference to the original journal publication.
3. We warrant that the Work is our results and has not been published before in its current or a substantially similar form and is not under consideration for another publication, does not contain any unlawful statements and does not infringe any existing copyright.
4. We also warrant that We have obtained the necessary permission from the copyright holder/s to reproduce in the article any materials including tables, diagrams or photographs not owned by me/us.
