摘要
采用一类具有"小误差放大、大误差饱和"功能的非线性饱和函数来改进常用的线性比例-微分加(PD+)机器人系统动力学控制,以形成非线性PD+(NPD+)控制,从而获得更快的响应速度和轨迹跟踪精度.应用Lyapunov直接稳定性理论和LaSalle不变性原理证明了闭环系统的全局渐近稳定性.两自由度机器人系统数值仿真结果表明了所提出的NPD+控制具有良好的控制品质.
A nonlinear proportional derivative plus （NPD＋） robot dynamics control is proposed to give faster response and higher tracking precision over the commonly used linear PD＋ control. The proposed NPD＋ control is formulated with a new class of nonlinear saturated function with the characteristics of ‘enlargement of small error and saturated in large error＇. The global asymptotic stability of the resulting closed-loop system is proved in agreements with Lyapunov direct method and LaSalle invariance principle. Simulations are performed on a two degree of-freedom （DOF） robot, and the results show the effectiveness and improved performance of the proposed approach.
出处
《控制与决策》
EI
CSCD
北大核心
2009年第11期1697-1701,共5页
Control and Decision
基金
国家自然科学基金项目(50675167)
高等学校全国优秀博士学位论文作者专项资金项目(200535)
教育部新世纪优秀人才支持计划项目
