This paper presents a new approach to the Robust Control for the two robot carring a common object with adaptive load sharing.
In generally, the robust technique is the iterative design to determine a robust controller for pertubed system with prescr...
This paper presents a new approach to the Robust Control for the two robot carring a common object with adaptive load sharing.
In generally, the robust technique is the iterative design to determine a robust controller for pertubed system with prescribed range of pertu- bation based on the robust stability maesure.
However, robot manipulator has the structured pertubation and unstructured one. Therfore, we cannot construct the robust control by using only bounding of pertubation of system. This paper propsed the new robust controller using the relation between unknown parameter and parameter of nominal system from Krasovskii's Theorem. And, the control schme includes includes the load sharing element which is to be tuned adaptively according to the condition of tasks.