机器人鲁棒自适应分散控制

DECENTRALIZED ROBUST ADAPTIVE TRACKING CONTROL OF ROBOT MANIPULATORS

  • 摘要: 本文提出一种新颖的鲁棒自适应分散控制策略,用于不确定性机器人的轨迹跟踪.该控制器结构非常简单,由一个线性PD反馈+补偿不确定动力学的非线性自适应反馈构成,能够有效的克服通常难于建模的摩擦力和外部扰动影响,而唯一需要了解的只是各关节输出的位置及速度状态,最后保证全局的渐近稳定.二自由度机器人的仿真证明了该法的有效性.

     

    Abstract: This paper proposes a novel decentralized robust adaptive control strategy for trajectory tracking of robot manipulators with uncertainties.The controller is very simple, and the only information required in setting up the strategy is the output states of each joint, while detailed description of the model is not needed.It is shown by theories and simulations that uncertain effects such as frictions and external disturbance can be overcome and global asymptotic stability can be warranted.

     

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