参数未知的多个操作器的一种自适应控制算法

Adaptive motion and internal-force control of multi-manipulator

中文关键词  内力  参数不确定性  固定点接触  虚逆

英文关键词  internal force  uncertain parameters  fixed-point contact  pseudo inverse

中文摘要

      在多个操作器的内力与运动的控制中,内力控制是主要的挑战.在假设接触模型为点接触的前提下,讨论了参数未知的多个操作器内力的自适应控制.先给出多个操作器所成系统具有的一些特性;其次导出了内力误差与动力学参数间的关系;最后在条件PE(persistent-exciting)不成立的情况下,给出了一种保证内力收敛于零的复合控制.由理论证明及仿真实验可知,本文给出的控制器既使被操作的物体运动轨迹渐进跟踪期望的运动轨迹,又使作用在物体上的内力渐进跟踪期望的内力.

英文摘要

      Internal force control is the main challenge in internal/motion control of multiple manipulators. Based on the assumtion of point contact model, the internal force adaptive control of multiple manipulators with unknown parametres was addressed. Firstly, some special characters of the complete system formed by multiple manipulators were presented. Secondly, the relationship between the internal force error and dynamical parametres was derived. Finally, a composite adaptive controller to deal with the internal force error was provided when the condition PE(persistent-exciting) was not satisfied. By theoratical prove and simulation, it was shown that the proposed controller could realize simultaneously both the desired position trajectory of the object and desired value of the internal force.