受扰不确定机器人手臂的终结有界稳定控制

A STRATEGY FOR ULTIMATE BOUNDED CONTROL OF ROBOT ARMS WITH DISTURBANCES AND UNCERTAINTIES

摘要: 本文研究了在扰动和不确定因素共存的情况下，机器人手臂系统的稳定控制问题，给出了保证其终结有界稳定的控制方案．该方案由一个力矩发生器和终结有界镇定器组成，它不依赖精确的机器人手臂模型，且能容忍一定程度的计算误差，这对于简化运算，提高控制计算机实时处理速度十分有益．
- 机器人手臂 /
- 受扰不确定 /
- 终结有界稳定
Abstract: This paper studies the stabilization problem on RA,i.e.robot arm,in the face of disturbance and uncertainty.A new control strategy consisting of a torque generatorand a linear continuous stabilizer is developed.It is shown the exact RA model is notrequired and ultimate boundedness stability of RA is guaranteed in the strategy presented.Moreover,this strategy is tolerable to a certain degree of computation error.
- robot arms /
- stabilization disturbance and uncertainty /
- ultimate boundedness