一类互联机器人系统的鲁棒分散跟踪控制

DECENTRALIZED ROBUST TRACKING CONTROL FOR A CLASS OF INTERCONNECTED ROBOT SYSTEMS

研究互联机器人系统在受到模型不确定性和外部干扰情况下的鲁棒轨迹跟踪问题.针对系统中存在的不确定动力学问题,在不确定项的连续界函数已知的情况下,基于Lyapunov设计方法提出一种鲁棒分散控制器的设计方法,实现互联机器人系统位置和速度的渐近跟踪.仿真算例表明了该方法的有效性.

The robust trajectory tracking strategies for a class of interconnected robot systems with uncertainties were investigated. Based on the continuous known bounded functions of uncertainties and Lyapunov method, the decentralized robust controllers were proposed. The controllers can guarantee that the position vectors and velocity vectors of interconnected robot systems can track the given trajectory asymptotically. The simulation results verify the method.