一种机械手的鲁棒学习控制器的设计

A Design of Robust Learning Controller for Robot Manipulator

介绍了一种应用于机械手的鲁棒学习控制器．该控制器包括一个鲁棒反馈控制器和一个迭代学习控制器，能够抑制由于参数变化、机械非线性、非模型动态特性带来的扰动，使系统获得良好的性能．本文应用Ｌｙａｐｕｎｏｖ稳定性理论证明了控制算法的收敛性．仿真结果表明该控制器能够有效地控制机械手．

A robust learning controller is presented in this paper This controller includes a feedback controller and an iterative leaming controller, which can be used to restrain disturbance from parameter variation, mechanical nonlinearities and unmodeled dynamics and to achieve good performance as well. The convergence of the controller is proved by the method of Lyapunov stability theorem. The results of numerical simulation are given to show the effectiveness of this controller for robot manipulator.