摘要
研究应用 PD+前馈控制结构的不确定性机器人轨迹跟踪问题 .在忽略摩擦力和外部扰动情况下 ,设计了一大类综合的自适应控制策略 ,能保证系统全局的渐近稳定 ;在摩擦力和外部扰动存在时 ,提出两种新颖的鲁棒自适应混合控制方法 ,不仅可以保证闭环系统的全局稳定性 ,同时还能给出系统清晰的暂态性能 .
Trajectory tracking problem of uncertain robot manipulators with PD+feedforward control structure is dealt. In the absence of friction and disturbances, a new class of globally asymptotically stable adaptive control strategies are proposed. In the presence of friction and disturbances, two novel robust adaptive hybrid control methods are developed, which can not only warrant global stability of closed-loop system but also give clear transient description of the whole system. Strict theorem proofs and simulations of a two-degrees-of-freedom robot are given to show the validity of proposed controllers.
出处
《自动化学报》
EI
CSCD
北大核心
2002年第1期11-18,共8页
Acta Automatica Sinica
基金
中国博士后科学基金北京中自技术公司博士后基金资助
关键词
机器人
自适应控制
鲁棒控制
PI控制
前馈控制
Adaptive control systems
Feedforward neural networks
Friction
Robots
Robustness (control systems)
