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基于RBF网络的机械人鲁棒自适应控制与仿真分析 被引量：2

Robust Adaptive Control and Simulation Analysis of Robot with RBF
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摘要 针对电机驱动机器人模型,设计了一种鲁棒自适应控制器。首先用动态RBF神经网络逼近机器人动态模型,然后设计了一个带积分器的滤波器,由滤波器系统推导出所需的理想输入电流,再以理想输入电流为目标设计电机控制器并得到最终控制律。基于Lyapunov稳定理论分析了鲁棒自适应控制器的稳定性,给出了稳定性充分条件。实例仿真结果表明,合理的选择控制器参数可使系统具有良好的动态特性和鲁棒稳定性。 A robust adaptive controller was proposed for electricall-driven robot. Robot model was transformed into dynamic RBF model, and then a filter with integrator was designed to derive the ideal input current law. After that a motor controller was designed to track the ideal input current. Based on the theory of Lyapunov stability, the stability of robust adaptive controller was given with a sufficient condition.. The simulation results show that high dynamic characteristic and more robust stability are obtained by a reasonable choice of controller parameters.
作者 王允建 刘贺平
机构地区 北京科技大学信息工程学院
出处 《系统仿真学报》 CAS CSCD 北大核心 2009年第4期1111-1113,1117,共4页 Journal of System Simulation
基金 国家自然科学基金(60374032)
关键词 鲁棒自适应控制 机器人系统 LYAPUNOV方法 不确定非线性系统 仿真分析 robust adaptive control robot dynamic Lyaptmov method uncertain nonlinear system simulation analysis
分类号 TP13 [自动化与计算机技术—控制理论与控制工程]
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参考文献15

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同被引文献18

  • 1Mark W.Spong.Robot Modeling and Control[M] john Wiley&Sons.Inc.2006.
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  • 6Victor Etxebarria,Arantza Sanz.Control of a Lightweisht Flexible Robotic Arm Sliding Modes.International Journal of Advanced Robotic Systems,2005,2(8):103-110.
  • 7Rong-Jong Wai.Intelligent Optimal Control of Single-Link Robot Arm[J].IEEE Transaction on Industrial Electronics,2004(51):201-220.
  • 8Seul Jung,T.C.Hsia.Neural network inverse control techniques for PD controlled robot manipulator[J].Robotica,2000(18):305-314.
  • 9Mark W Spong. Robot Modeling and Control [M]. USA: John Wiley & Sons, Inc, 2006.
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系统仿真学报
2009年 第4期

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