| 引用本文: | 于志刚,沈永良,宋申民.机械臂鲁棒自适应运动控制[J].控制理论与应用,2011,28(7):1021~1024.[点击复制] |
| YU Zhi-gang,SHEN Yong-liang,SONG Shen-min.Robust adaptive motion control for manipulator[J].Control Theory and Technology,2011,28(7):1021~1024.[点击复制] |
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| 机械臂鲁棒自适应运动控制 |
| Robust adaptive motion control for manipulator |
| 摘要点击 2232 全文点击 1264 投稿时间：2010-01-29 修订日期：2010-08-20 |
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| DOI编号 10.7641/j.issn.1000-8152.2011.7.CCTA100113 |
| 2011,28(7):1021-1024 |
| 中文关键词 机械臂控制 Lyapunov稳定性 鲁棒控制 势函数 |
| 英文关键词 manipulator control Lyapunov stability robust control potential function |
| 基金项目 黑龙江省教育厅科学技术研究项目资助项目(11544036); 黑龙江省普通高等学校电子工程重点实验室资助项目(DZZD200804). |
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| 中文摘要 |
| 针对具有不确定性的机械臂系统, 文中阐述了一种基于势函数和Lyapunov稳定性理论的鲁棒自适应控制方法. 它是通过合理选择与控制目标相关的势函数, 并根据模型中不确定性的实时变化, 在控制器中引入可在线可调参数, 使得控制器机械臂能够跟踪给定的有界参考信号, 跟踪误差收敛到包含零点的很小的邻域内. 同时该闭环系统的所有状态半全局最终一致有界(SGUUB). 仿真研究表明该方法的有效性. |
| 英文摘要 |
| A robust adaptive control approach based on potential function and Lyapunov stability theory is proposed for manipulator system with uncertainties. The proper potential function related to the control object is chosen, and the online adjustable parameters based on real-time variation of the uncertainty in the system model are included in the controller. The proposed approach ensures that system outputs track the given bounded reference signals with errors converging to a small neighborhood of zero, and all the closed-loop signals are of semi-global uniformly ultimate boundedness(SGUUB). Finally, the effectiveness of the proposed control approach is demonstrated by simulation results. |