一种机器人鲁棒自适应控制法

针对具有参数不确定性的机器人轨迹跟踪问题 ,本文提出了一种自适应鲁棒控制策略。该控制器的设计由非线性PD控制和自适应反馈控制构成 ,避免了单纯线性PD控制导致的初始输出力矩过大问题 ,并针对有界扰动的上确界为已知和未知两种情况分别设计了控制器。

For trajectory tracking of robotic manipulators with uncertainties, a robust adaptive control strategy is proposed in this paper. The controller consists of nonlinear PD control and adaptive feedback control, so that peak levels of servo initial output is reduced. Two differential controllers were designed according to whether the upper bound of perturbation being known or not. The theoretical analysis and the result of simulation show it is effective.