具有清晰暂态性能的机器人鲁棒自适应跟踪控制

Robust Adaptive Tracking Control of Robot Manipulators with Clear Transient Performance

基于不确定性机器人的轨迹跟踪问题 ,提出一种保证系统具有清晰暂态性能的鲁棒自适应控制策略 .控制器由一个简单的线性 PD反馈 +非线性阻尼 +标量不确定性补偿控制器构成 ,不需传统的回归矩阵计算 ,能够有效地克服通常难于建模的摩擦力和外部扰动影响 .只需了解系统的阶数和输出的位置及速度状态 ,保证全局的指数稳定或全局一致最后有界 .

A simple robust adaptive control strategy which can guarantee clear transient performance for trajectory tracking of robotmanipulators with uncertainties was proposed.The controlleris composed of a linear PD feedback plus a nonlinear damping term plus a compensator for scalar uncertainty.It doesn't need to compute the traditional regressor.The information required in establishing the strategy is the degree and output state of the system,while detailed description of the model is notrequired.Itis shown by the theories and simulations that uncertain effects such as frictions and external disturbance can be eliminated and global exponential stability orglobal uniform ultimate boundedness stability can be guaran- teed.