引用本文:刘英卓，王越超，席　宁.类Lyapunov理论在类人形机器人任务空间内跟踪的应用[J].控制理论与应用,2004,21(3):351~356.[点击复制]
LIU Ying-zhuo, WANG Yue-chao, XI Ning.Application of Lyapunov-like methodology for a humanoid robot tracking in task space[J].Control Theory and Technology,2004,21(3):351~356.[点击复制]
类Lyapunov理论在类人形机器人任务空间内跟踪的应用
Application of Lyapunov-like methodology for a humanoid robot tracking in task space
摘要点击 1309  全文点击 1351  投稿时间：2003-03-19  修订日期：2003-10-13
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DOI编号  10.7641/j.issn.1000-8152.2004.3.006
  2004,21(3):351-356
中文关键词  类人形机器人  自适应控制  神经网络
英文关键词  humanoid robot  adaptive control  neural network
基金项目  国家"十五""863"资助项目(2001AA422170).
作者单位
刘英卓，王越超，席　宁 中国科学院 沈阳自动化研究所 机器人学重点实验室，辽宁 沈阳 110016 
中文摘要
      考虑了类人形机器人的各种不确定因素,提出了其手臂控制的新方法.基于类Lyapunov方法,设计出具有鲁棒性功能的任务空间控制器.该方法得到的控制器不但在有限确定时间内达到稳定跟踪,而且不需要雅可比矩阵求逆,对一定类型的外部干扰具有鲁棒性功能.最后通过数值仿真显示了所得结果的有效性及其应用方法.
英文摘要
      A new method for the arm control of a humanoid robot is proposed under the consideration of many uncertain factors.Based on Lyapunov-like methodology,controllers in task space were constructed which had a robust effect.Being different from common results,the obtained controllers not only guarantee tracking stability within a finite prescribed time,but also need not solve the inverse of Jacobian matrix and achieve robustness with respect to a class of bounded disturbance.Finally,numerical simulation results were given to illustrate the proposed methods.