| Summary: | 碩士 === 國立中央大學 === 電機工程研究所 === 83 === In this thesis, we discuss the problem of the path track- ing
of rigid robot manipulators.A good path tracking contro- ller
can not only depress the influence of the disturbances, which
may result from internal system uncertainties and ext- ernal
disturbace, but also reduce the tracking error. Moreo- ver,the
control method must be simple enough to be feasible. It is thus
that we,in this thesis, take the advantage of the adaptive
control theory to release the assumption that the bounds of
the uncertainties and disturbances must be known previously.
Furthermore, the controller is combined with the sliding mode
control to enhance the robustness of the system to
disturbances. At the same time, the adaptive sliding mode
controller without serious chattering guarantees that the
tracking error convergeto zero, which is different from the
result derived by the boundary layer of the conventional va-
riable structure control systems. Furthermore,the advantages of
the characteristics of the regressor matrix of the robot
manipulator dynamic equ ation can be fully ultized in this
thesis to avoid the heavy computation load which is needed
for the estimation and inversion of the inertia matriix in
the inverse dynamics method. Therefore, a new compensator is
designed to decrease the influence resulting from the stri- ct
assumptions in inverse dynamics method. Accordingly,this
thesis is to derive an effective and practical control for
robot manipulator. The control effect is demonstrated by si-
mulations.
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