机器人自适应模型跟随控制系统

AN ADAPTIVE MODEL FOLLOWING CONTROL FOR ROBOTIC MANIPULATORS

对工业机器人控制要求的不断提高,提出了不少现代控制方案。建立在超稳定性理论基础上的自适应模型跟随控制系统(AMFCS)就是一种很有效的方案。本文提出了一种自适应控制算法:单位向量加积分校正自适应算法。设计方法简单,能保证系统大范围渐近稳定,计算工作量小,易于实时控制。对机器人系统期望的解耦特性可以通过选择适当的参考模型来实现。计算机数字仿真实验证明了该方法的有效性。

The increased demand on robotic manipulator performances leads to the use of advanced control structures. An adaptive model following control system for robotic manipulators is developed via hypcrstability theory. A new control algorithm is proposed in this paper. That is the unit vector with a integral corrective term adaption law. The design procedure is simple and effective and always assures the asymptotic stability in the large range. The decoupling properties can be achieved by a suitable choice of the reference model. A case study is developed by numerical simulation.