摘要
文章考查了一类具有非匹配不确定性的非线性系统的全局稳定性及其在机器人鲁棒控制中的应用 .针对机器人存在参数不确定性以及外界干扰的情况 ,利用非线性鲁棒控制理论给出了鲁棒控制器 ,考虑不确定性存在情况下跟踪误差的全局渐进收敛性 .最后给出了两连杆刚性机器人的仿真例子 ,验证了其控制效果 .
The global stability problem of nonlinear control systems with unmatched norm-bounded uncertainties as well as the use in robust control of robot manipulator were studied. Under some conditions on robot systems,by using the nonlinear robust control theory,the controller and consider the global stability of the trajectory tracking errors were given. In the end,simulations were given for a two-link rigid robot and validated the control performances.
出处
《太原师范学院学报（自然科学版）》
2004年第2期10-13,共4页
Journal of Taiyuan Normal University:Natural Science Edition
