摘要
针对机器人系统的参数与非参数不确定性,提出一种新颖的控制策略。将自适应滑模变结构理论应用于机器人轨线跟踪控制,鲁棒增益自适应调整,Lyapunov直接法分析证明系统可实现全局渐近稳定。在保持渐近稳定性的前提下,引入平滑饱和函数,有效改善控制的暂态品质和震颤现象。仿真结果表明系统估计参数收敛,并有较高的鲁棒性和精确性。
This paper proposes a novel control scheme with focus on the uncertainty of the robot system, which use Adaptive Variable Structure Control (AVSC) theory on the trajectory tracking control of robot. And the robust gains are adjusted adaptively. The global asymptotic stability is validated by Lyapunov direct method. A smooth saturation function, which maintains system having same stable condition, is used to reduce the control chatter and transient performance of system. Simulation results show the estimated parameters are converged and the good robust and accuracy are obtained.
出处
《系统仿真学报》
CAS
CSCD
2002年第9期1255-1258,共4页
Journal of System Simulation
