摘要
针对触感装置的非线性采用滑模控制对其进行控制研究,并设计干扰观测器对模型不确定性及外界干扰进行观测,为力位补偿打下基础,同时改善了系统控制性能。
In this article,aiming at the nonlinear of haptic device,sliding control is used for control and research, and the dis-turbance observer is designed to observe the model uncertainty and external disturbance, which provide a foundation for com-pensation, and improve the system control performance.
出处
《机械研究与应用》
2016年第2期164-165,171,共3页
Mechanical Research & Application
关键词
触感装置
滑膜控制
趋近律
haptic device
synovial control
reaching law
