机器人部分状态反馈自适应控制

Adaptive Partial State Feedback Control of Robot Manipulators

研究了机器人部分状态反馈自适应跟踪控制问题 ,提出两种通用的动态滤波器设计方法 .该方法不同于现存的高通滤波器设计 ,可以避免速度信号测量 ,最后保证闭环系统输出误差渐近稳定 .证明了在期望轨迹满足持续激励条件时 ,辩识参数将收敛到真值 .给出了仿真验证 .

This paper proposed an asymptotically stable adaptive partial state feedback control strategy for trajectory tracking of robot manipulators with uncertainties. Two general linear filters were presented to eliminate the velocity measurements, which are quite different from the existing linear high-pass filters. In addition, the parameter estimates will also converge to the true values if the so-called persistent excitation condition is met. Simulations were given to test its validity.