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논문 목록
Operator-based Robust Control Design for a Human Arm-like Manipulator with Time-varying Delay Measurements
저자
Aihui Wang, Mingcong Deng, Dongyun Wang
학술지명
International Journal of Control, Automation, and Systems
출판/발행연도
2013
주제
요약
본 논문에서는 시간 가변 지연 측정을 갖는 인간 팔 유사 조작기에 대한 연산자 기반 강인 비선형 제어 방식을 제안합니다. 측정 오차 및 외란을 포함하는 동적 모델의 불확실성을 고려하여 연산자 기반 비선형 피드백 제어 방식을 설계하고, 지연 보상 연산자와 전방 예측 연산자를 통해 지연 측정 및 중추 신경계의 영향을 보상합니다.
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