不确定性机器人的复合变结构鲁棒跟踪控制

Composite Variable Structure Robust Tracking Control of Robot With Uncertainty

针对具有不确定性的多关节机器人系统 ,本文提出了一种复合变结构鲁棒跟踪控制 ,给出了系统稳定性分析 ,仿真实验结果表明 ,该方法能有效地克服系统的不确定性影响和抖振 。

This paper describes a composite variable structure control for multi-joint robot with uncertainty, and gives out the stability analysis of the system The result of emulation experiment indicates that this method can overcome the efect of the uncertainty of the system and the tremble, and has nice tracking characteristic