Experimental evaluation of adaptive and robust schemes for robot manipulator control

摘要

Adaptive and robust control schemes are compared in tracking control of a robot manipulator. In adaptive control, we classify the adaptive control laws into three types and then investigate their tracking performances by experiment. In robust control, a two degree of freedom controller is examined. We demonstrate its strong disturbance rejection performance and robustness to parameter variation. Finally, we consider the advantages of both of the control schemes.