摘要
本文提出了一类基于计算力矩结构的变增益鲁棒控制策略，用于参数不确定性机器人的轨迹跟踪．其特点是利用了机器人动力学的一种特殊的参数变量分离方法，只需知道一个集中的系统不确定性参数，能够有效的消除参数误差带来的不确定性影响，最后保证系统达到３种不同的稳定性结果．另外，在该参数未知时，我们还设计了一个简单的在线辨识器，可保证系统全局的收敛．理论和仿真，均证明了其可靠性和有效性．
This paper proposes a new class of control strategies based on the so called computed torque structure,which are used for trajectory tracking of robot manipulators with parametric uncertainties. Exact knowledge of robot dynamics is not needed except that a lumped system uncertain parameter must be known.It is shown by theories and simulations that the effects of large system uncertainties can be eliminated and three kinks of stability results (i.e.global uniform ultimate boundedness stability,global asymptotic stability and global exponential stability) can be guaranteed based on the designer's choice. In addition, when the lumped system uncertain parameter is unknown, an on line estimate of this parameter has been derived such that the global convergence can be guaranteed.
出处
《机器人》
EI
CSCD
北大核心
1998年第2期111-115,共5页
Robot
