机器人系统鲁棒轨迹跟踪控制器设计

Design of Robust Trajectory Tracking Controller for Robotic Systems

针对机器人系统的轨迹跟踪控制问题,考虑实际系统中存在的不确定性,基于动态系统终值有界性引理,采用连续状态反馈的方法,设计出一种鲁棒轨迹跟踪控制器。仿真结果表明,此法设计的控制器对机器人系统的参数不确定性具有较好的鲁棒性,可保证不确定性存在情况下跟踪误差的终值有界性。

As to the trajectory tracking control problems in the robotic systems, a robust trajectory tracking controller was designed, which was built through continuous state feedback based on the lemma of bounded terminal value with the uncertainties of the actual systems considered. The simulation results expatiated that the controller designed in this paper had excellent robustness to the uncertainties of robotic system＇s parameters and assured that the trajectory tracking error＇s terminal value is bounded.