不依赖模型的机器人鲁棒自适应跟踪控制

Model-Independent Robust Adaptive TrackingControl of Robot lVlanipulators

中文关键词  鲁棒控制  自适应控制  机器人  指数稳定  一致最后有界

英文关键词  robust control  adaptive control  robot  exponential stability  GUUB

中文摘要

      提出了一种新颖的鲁棒自适应控制策略，用于不确定性机器人的轨迹跟踪. 它不需要任何模型知识，唯一需了解的是系统的阶数和输出的位置及速度状态. 理论和仿真均证明，系统的不确定性诸如摩擦力、外部扰动及未建模动力学带来的不确定性影响，均可被设汁的控制律补偿，最后可保证全局指数收敛或全局一致最后有界的结果，另外，本文还给出了跟踪误差的暂态测量.

英文摘要

      This paper proposes a novel model-independent robust adaptive control strategy for trnjectory tracking of robot manipulators with uncertainties，in which the only information required in esrablishing the srrategy is the degree-of-freedom(DOF) and output state of the system. lt is showrn by theories and srmulations that uncertain effects such as frictions and external disturbances or unnmdelled dynaniices can be eliminatated and global exponential stability(GES) or global uni-form ultimaare boundedness(GUUB) stability can be guaranteed. Furthermore，we also give a mea-surp of the transient tracking error performace.