摘要
提出了一种新颖的鲁棒自适应控制策略，采用简单的多项式结构，不需传统的回归矩阵计算，而唯一需要了解的只是系统的阶数和输出的位置及速度状态，能够有效地克服通常难于建模的摩擦力和外部扰动影响，最后保证全局的指数稳定或全局一致最后有界．二自由度机器人的仿真证明了该法的有效性．
This paper proposes a novel robust adaptive control strategy for trajectory tracking of robot manipulators with uncertainties. The controller which is based on a so called polynomial structure is rather simple, and the only information required in setting up the strategy is the degree and output states of the system, while detailed description of the model is not needed. It is shown by theories and simulations that uncertain effects such as frictions and external disturbance can be eliminated and global exponential stability or global uniform ultimate boundedness stability can be guaranteed.
出处
《西安交通大学学报》
EI
CAS
CSCD
北大核心
1998年第5期18-21,共4页
Journal of Xi'an Jiaotong University
关键词
鲁棒控制
自适应控制
机器人
指数稳定
robust control adaptive control robot exponential stability
