摘要
运用Backstepping设计方法,对电驱动刚性机械手轨迹跟踪控制问题提出了一种鲁棒控制方案,并用非线性系统LYAPUNOV数学理论进行了稳定性分析,得到轨迹跟踪误差渐近稳定等结果。
In this paper,the trajectory-tracking control problem of Rigid-link Electrically-driven is studied.Using the backstepping design method,a robust controller is developed.Stability analysis is put up based on lyapunov nonlinear system theory.Asymptotic stability is obtained.
出处
《煤炭技术》
CAS
北大核心
2011年第8期43-44,共2页
Coal Technology
基金
常州大学基础学科基金(ZMF10020071)
关键词
轨迹跟踪
电驱动刚性机器人
逆步递推
渐近稳定
trajectory tracking
rigid-link electrically-driven robots
backstepping
asymptotic stability
