代颖, 谢明江, 施颂椒. 基于一类饱和函数的机器人混合鲁棒/自适应控制[J]. 机器人, 2000, 22(5): 371-376..
DAI Ying, XIE Ming-jiang, SHI Song-jiao . MIXED ROBUST/ADAPTIVE CONTROL OF ROBOT MANIPULATORS BASED ON A CLASS OF SATURATION FUNCTIONS. ROBOT, 2000, 22(5): 371-376..
Abstract：This paper proposes a class of mixed robust/addaptive control schemes without linear PD feedback for trajectory tracking of robots with uncertainties. The control structure consists of a adaptive controller used to compensate for the parametric uncertainty and a nonlinear robust controller used to compensate for the unparametric uncertainty. The main feature of the control approach is that a new class of nonlinear sliding variables and continuous nonlinear robust controllers are developed based on a class of saturation-type functions to simplify the controller design. It is shown by Lyapunov's theorem and simulations that uncertain effects such as frictions and external disturbances are e lim inated, and also the global asymptotic stability can be warranted.
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