机械手的全局稳定自适应控制方案

A GLOBALLY STABLE ADAPTIVE CONTROL ALGORITHM FOR ROBOT MANIPULATORS

  • 摘要: 本文针对机械手一类复杂的非线性系统,综合非线性补偿和模型参考自适应控制两种方法的基本思想,提出一种有效的全局渐近稳定自适应控制方案.此方案没有对机械手模型做任何线性近似,控制算法中只用到了容易测量的关节角位移和角速度信号,而且保证控制量平滑.最后给出了满意的仿真结果.

     

    Abstract: An adaptive compensation control algorithm for robot manipuators is proposed in the paper,The algorithm estimates parameters on-line and uses the latest estimatesin nonlinear compensation term,The globally asymptotical stability of the system is guaranteed by this algorithm(not based on any approximation).An important practical feature of the algorithm is that it does not require measurements or estimates of the manipulator's joint accelerations.Parameter boundaries of the manipulator are used in the adaptive algorithm to make the controller robust.Simulation results show that the adaptive compensation control algorithm is effective.

     

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