一种非线性PD控制的设计及其应用

The Development of a New Approach for Nonlinear PD Control

根据波波夫稳定性理论,提出了一种非线性PD控制的设计方法。采用该控制方法对一种机器人末端执行器进行控制,并且在MATLAB的Simulink的基础上进行了仿真。

Based on Popov stability theory it describes a new approach for nonlinear PD con trol. An end executor is designed and modeled as a second-order transfer functio n. This nonlinear PD controller is simulated with Matlab. The result shows the e ffectiveness and robustness of this method.