基于PD+反馈结构的机器人鲁棒自适应分散控制

Decentralized Robust Adaptive Control of Robot Manipulators Based on PD+Feedback

本文提出了一种新颖的鲁棒自适应分散控制策略,用于不确定性机器人的轨迹跟踪。该控制器结构非常简单,由PD+非线性反馈构成,仅需要了解各关节输出的位置及速度状态,避免了对加速度的测量,有效的克服了通常难于建模的摩擦力和外部扰动的影响,最后保证全局渐近稳定。二连杆机器人的仿真研究证明了该策略的有效性。

This paper proposes a novel decentralized robust adaptive control strategy for trajectory tracking of robot manipulators with uncertainties.The controller is very simple,and the only information required in setting up the strategy is the output states of each joint,while detailed description of the model is not needed. It is shown by the oriesand simulations that uncertain effects such as frictions and external disturbance can be overcome and global asymptotic stability can be warranted.