AN ADAPTIVE SUB-OPTIMAL CONTROL FOR ROBOT MANIPULATOR DRIVE
An approach to design a control system for robot manipulator electrical drive based on principals of variable structure system, optimal control and adaptation is considered. Features of robot manipulator dynamics are their nonlinearity, multidimensionality and uncertainty. As consequence, a solution of control synthesis problem for robot manipulator is rather difficult. One of approaches that makes possible to simplify a synthesis problem solution is a decomposition of complex dynamical system into a set of interacting subsystems of reduced dimensions. In this case, a mutual influence of subsystems are considered as an external disturbance. Simple nonlinear regulators based on variable structure systems using sliding mode parameters for adaptation are proposed. Results of simulations are given and discussed.