具有不确定参数的机器人鲁棒轨迹跟踪控制

ROBUST TRAJECTORY TRACKING CONTROL OF ROBOT MANIPULATORS WITH UNCERTAIN PARAMETERS

研究了具有不确定参数的机器人轨迹跟踪控制问题。提出了一种鲁棒控制方案,它由改进力矩发生器和鲁棒补偿器组成,理论分析及仿真实验表明,该控制方案具有较好的跟踪性能。

This paper is devoted to the trajectory tracking control problem of a robot manipulator with disturbances and uncertain parameters.A new robust control strategy consisting of a modified torque generator and a robust compensator is proposed.It is proved through theoretical analysis and simulation experiment that the presented strategy has several attractive properties.