摘要
讨论了受摩擦力、外界扰动及参数不确定的移动机械手控制问题 .基于Barbalat引理、系统的结构性质和定义的跟踪误差 ,提出了鲁棒控制器 .该控制器能使系统的状态在参数不确定情况下全部渐进趋于给定的期望轨迹 .仿真结果验证了本文所提出控制方法的有效性 .
This paper studies the tracking control problem of mobile manipulators in which parameter uncertainty, system friction and disturbance are considered. A robust tracking controller is proposed based on the defined tracking errors, the structural properties of the system, and Barbalat's lemmas. The proposed controller ensures the system state to asymptotically track the desired trajectory in the presence of uncertainties. Simulations presented in the paper show the effectiveness of the proposed approach.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2002年第3期345-348,共4页
Control Theory & Applications
基金
supportedbythe 985ProjectofTsinghuaUniversity (0 8110 0 40 0 )
theMajorResearchProjectoftheTenth_FivePlanofChina(2 0 0 160 9A -12 ) .
关键词
移动机械手
鲁棒控制
跟踪控制
非完整系统
不确定性
mobile manipulator
tracking control
nonholonomic system
robust control
uncertainty
