一种带重力补偿的机械手混合模型跟随自适应控制方法

HYBRID MODEL FOLLOWING ADAPTIVE CONTROL OF MANIPULATORS WITH GRAVITY COMPENSATION

本文将系统参数辨识引进 MFAC 中,从而突破了常规的 MFAC,提出了混合 MFAC 的新思想。根据这种思想,应用 Popov 超稳定性理论和正实性概念,我们提出了一种带重力补偿的机器人混合 MFAC控制方案,该方案具有适用性广,计算量不大而控制性能好的优点。

In this paper,the conventional MFAC method is broken through with the system parameter estima-tion being introduced into MFAC and the new concept hybrid MFAC is presented.In accordance withthis concept,a hybrid MFAC scheme of manipulators with gravity compensation is presented.It bases onPopov superstability theories and concepts of positive real function,and has advantages of wideadaptability,less computation task and good control quality.