摘要
本文针对含有不确定性的液压并联机器人 ,提出了一种鲁棒自适应控制器 ,该控制器能够克服参数变化和负载扰动的不良影响 ,保证系统的鲁棒全局渐近稳定性和良好的跟踪动态性能。计算机仿真结果证明了该控制方案的有效性。
Robust adaptive controller is proposed for parallel robot manipulators with uncertainties and disturbance .It can eliminate the effects that the varying parameters and the external disturbance affect on the system, and guarantee the global asymptotic stability and good tracking dynamic performance. The simulation result shows the effectiveness of the proposed method.
出处
《机器人技术与应用》
2002年第4期22-24,共3页
Robot Technique and Application
