终端受限机器人系统轨道跟踪的新控制算法

A NEW CONTROL ALGORITHM FOR TRAJECTORY TRACKING CONTROL OF TERMINAL RESTRICTED ROBOTIC DYNAMICS

研究一类终端受限机器人系统的控制问题 ,针对系统的轨道跟踪控制给出了一种新的学习控制算法 .该算法克服了已有结果所存在的弱点 ,其跟踪学习控制的收敛过程既不依赖理想运动控制和理想力控制 ,也不依赖于相应的初始控制数据 ,大大改善了控制效果 .

In this paper, a class of trajectory tracking control of terminal restricted robotic dynamics is discussed and a new learning control algorithm is given. The algorithm has overcome the shortage of the existing results, and its convergence process of tracking learning control depends neither on desired motion control and desired power nor on the data of the corresponding initial control; the results of Wang (1995) and Soh (1995) have been improved greatly.