路灯维修机器人的动态逆自适应控制

Dynamic Converse Self-adapting Controlling of Street Lamp Maintain Robot

为了稳定实现对路灯维修机器人系统的控制,应用了人工神经模糊动态控制原理及其控制器的设计方法,建立了路灯维修机器人的动力学方程,给出了神经模糊系统的学习算法,并进行了系统的稳定性分析,解决了路灯维修机器人的慢动力学及机器人慢子系统的逆自适应控制问题。

In order to realize controlling for flexible link of android in stability, the principle and design designs of nerve mistiness dynamic athwart accommodation controlling were used, and the dynamics equation of yielding link android and the learning arithmetic of the system are established, and stability of system was analyzed, and the slow dynamics and slow self-adapting controlling athwart of slow subsystem problem are solved.