| 引用本文: | 郭巧.一种新型的冗余机器人任务空间分散式自适应鲁棒控制方案[J].控制理论与应用,1992,9(3):279~282.[点击复制] |
| GUO Qiao.A New Kind of Decentralized Adaptive Robust Control Scheme with Task Compatibility for a Redundant Manipulator[J].Control Theory and Technology,1992,9(3):279~282.[点击复制] |
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| 一种新型的冗余机器人任务空间分散式自适应鲁棒控制方案 |
| A New Kind of Decentralized Adaptive Robust Control Scheme with Task Compatibility for a Redundant Manipulator |
| 摘要点击 966 全文点击 504 投稿时间：1990-10-10 修订日期：1991-10-14 |
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| DOI编号 |
| 1992,9(3):279-282 |
| 中文关键词 冗余机器人控制 自适应控制 鲁棒控制 分散控制 |
| 英文关键词 redundant manipulator control adaptive control robust control decentralized control |
| 基金项目 |
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| 中文摘要 |
| 本文提出一种任务空间冗余机器人渐近最优分散式自适应鲁棒控制方案。它可以在线同时完成关节状态的轨迹规划与控制任务；并对系统的未知参数具有自适应能力；对参数失配，有界扰动以及系统控制与状态约束具有鲁棒性。 |
| 英文摘要 |
| This paper proposes a decentralized adaptive robust control scheme with task compatibility for a redundant manipulator, and gives a new control performance index with the constraints of the control signals and the states of the system. If the parameters of the performance index and its constraints are set properly, this scheme can solve on-line the control problems of collision avoidance and singular free in the sense of quasi-optimization. On the other hand, it can also finish the tasks of trajectory planning and control of the joints on-line simultaneously. Because the decentralized control way is used, this scheme can make the quantity of calculation for generating the control signals be largely reduced. This scheme also has adaptability to the unknown parameters of the system. Therefore, this scheme can not only increase its flexibility, but also enhance the task compatibility of the redundant robot manipulator to be controlled. In point of stability, this scheme has an advantage over the other known methods to solve the similar problems. The simulation results have shown this. |