多模型自适应控制在机器人手臂控制当中应用

APPLICATION OF MULTIMODEL ADAPTIVE CONTROL ALGORITHM IN ROBOTIC MANIPULATOR CONTROL

  • 摘要: 本文以斯坦福机械手臂为研究对象,对被控对象建立离散时间模型,并建立自适应控制器.考虑斯坦福机械手自适应拄制当中,参数突变经常会破坏总体系统的稳定性的问题,针对被控对象模型建立多个模型,覆盖被控对象的参数不确定性,构成多模型自适应控制器,同时引入“局部化”技术,可保证在不失去多模型自适应控制精度的同时,减少计算时间.

     

    Abstract: In this paper, the dynamic characteristics of Stanford arm manipulator is described by a discrete time model, and the adaptive control of Stanford arm is studied in this paper. In the adaptive control of industrial manipulator, there always exits the problem that the great change in parameters always leads the global system unstable. To solve this kind of problem, multiple models are used to cover the uncertainties of system parameters, and a multi-model adaptive controller is set up based on these models. At the same time, "localization" method is introduced to reduce computing time, and the accuracy of multi-model adaptive control algorithm is not lost.

     

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