摘要
变结构控制有较强的鲁棒性,采用变结构控制理论设计模型跟随自适应控制系统,运算工作量小,并能预测对象与模型间偏差的收敛情况。利用这种方法对某机器人关节实现伺服控制,取得了较为满意的效果。
The Variable Structure Control has rather strong robustners. The paper provides the design method of a kind of Model Following Adaptive System by means of Variable structure Control theory. This design method needs much less computing effort and can forecast the convergence condition between the plant and the model. The control of a special robot joint servomotion is realized using above method,the results are satisfactory.
出处
《工业控制计算机》
1991年第4期3-5,共3页
Industrial Control Computer
