摘要
对机械手的轨迹控制提出一广义误差调节策略，控制输入分解为基于非线性模型部分和基于具有未知或时变参数的误差模型部分，由广义最小方差控制律得到补偿输入，并直接辨识广义误差预报模型系数。算法简单，误差修正迅速，仿真结果显示了该算法保证机械手的运动紧跟设定轨迹。
A generalized errorregulator for trajectory control of robotic manipulators. The control inputis separated into two parts,based on a nonlinear model and an error model with unknown or time-varyingparameters. By introdueing some auxiliiary signals and special matrices the resulting error dynamicsbeeome linear and dccoupled.A generalized minimum voriance control low is used to derieve error compensation imputs.In the selftuming regulation,cocfficients of the generalized error prediction model aredirectly identified. The algorithm is simple and the modification of errors is spced up The simulation results show that this scheme guarantees that the robot performs the same motions expectantly as the designed trajectory.
