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Stable Assist-as-Needed Controller Design for a Planar Cable-Driven Robotic System
저자
Hamed Jabbari Asl, 윤정원
학술지명
International Journal of Control, Automation, and Systems
출판/발행연도
2017
주제
요약
본 논문은 4-케이블 평면 로봇을 위한 새로운 보조-필요 기반(AAN) 제어기를 제안하며, 조정 가능한 보조 수준과 보장된 폐루프 안정성을 갖는 제어기 설계를 목표로 합니다. 제어기는 모델 기반 및 비 모델 기반 AAN 제어기의 장점을 결합하여 재활 효율성을 높이고, 동적 모델링 불확실성을 보상하기 위해 적응형 신경망을 사용합니다. 시뮬레이션을 통해 제안된 제어 방식의 유효성을 검증했습니다.
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