摘要
针对未知时变参数的不确定性和未知外部干扰的机械手轨迹跟踪问题,提出了一种具有抗扰能力的自适应鲁棒迭代学习控制算法。该算法引入鲁棒项,实现不确定机器人动力学系统鲁棒控制;结合系统模型的不确定性和干扰不重复,对系统进行相关数学理论分析,运用泰勒公式和Lyapunov函数分别进行线性化及稳定性分析;以二连杆机械手为例,基于MATLAB软件进行仿真,结果表明:改进后的算法跟踪效果好,收敛误差速度快。该智能控制算法可实现对不确定机器人系统轨迹精确跟踪,并加快跟踪误差的收敛速度。
To solve the trajectory tracking problem of manipulator with parameter uncertainty and unknown external disturbances is proposed an adaptive robust iterative learning control algorithm, the algorithm is robust due to the introduction of uncertain- ty, robust control of robot dynamics system; first repetition related mathematical theory analysis were analyzed. The results show that linearization and stability by using the Taylor formula and Lyapunov the function of the system considering the uncer- tainty of system model, and finally to interference; take two link manipulator as an example, Matlab software to establish the simulation platform based on control algorithm, the simulation results show that the improved algorithm has better tracking effect of faster convergence error, therefore, the intelligent control algorithm can be implemented on to determine the robot traj- ectory tracking performance, fast response and robustness.
出处
《软件导刊》
2018年第3期32-36,55,共6页
Software Guide
