DESIGN OF AN ADAPTIVE CONTROL SYSTEM FOR THREE DEGREES OF FREEDOM ROBOTS

Abstract

In this paper, a solution of control system design for industrial robots with three degrees of freedom is proposed. The mathematical model of the robot is presented by nonlinear equations using Taylor transformation. The nonlinear equations represent the states of the system with variable parameters, under the influence of unmeasurable external disturbance. The nonlinear function vector, the change of the dynamic parameters and the external disturbance are identified, compensated and adjusted base on adaptive control theory and the RBF neural network. Thus, the control system becomes robust under influence of uncertain components. The control law is built based on the principle of sliding mode control, so the designed system can give characteristics with high stability. The received results have shown advantages of the designed controller in terms of adaptation, interference resistance and performance.