摘要
本文研究不确定性刚性机器人的鲁棒控制问题。提出了一种新的鲁棒控制方案。控制器由两部分组成：第一部分为基于标称模型设计的计算力矩控制器；第二部分为基于Ｌｙａｐｕｎｏｖ方法设计的鲁棒补偿控制器，其作用是消除不确定性对跟踪性能的影响．本文证明了闭环系统的全局收敛性，仿真结果表明本方法对于存在外扰和模型不确定性的机器人系统是十分有效的。
A robust control scheme for uncertain robot manipulators is developed in this paper,Using anew version of inverse dynamics control law,a reduced-order generalized error equation,which greatly facili-tates the controller design, is first derived.The proposed scheme consists of two parts. The first part is themodel-based computed torque controller wLich is used to stabilize the nominal robot system. The second partis a robust compensating controller which is designed to handle the uncertainty in the system. The global convergence of the proposed controller is established.Simulation results show the proposed scheme is effective tothe robot systems with unknown parameters and external disturbance.。
出处
《机器人》
EI
CSCD
北大核心
1994年第6期321-328,共8页
Robot
关键词
机器人
鲁棒控制
不确定性
Robot, robust control,uncertainty global convergence
