参数不确定机器人分散鲁棒跟踪控制

提出了一种新的参数不确定机器人分散控制器设计方法．首先将关节子系统的动力学模型分解为人工标称模型和非线性时变不确定模型两部分；然后分别设计相应的标称控制器和鲁棒补偿器．标称控制器使得标称闭环系统具有理想的跟踪性能；鲁棒补偿器可以抑制参数不确定和关节间非线性耦合等因素的影响，实现鲁棒跟踪．所设计的控制器只需要局部关节的位置反馈，具有易于实现和可在线调整的优点．仿真结果说明了该方法的有效性．

Decentralized robust tracking control for robots with uncertain parameters

A new design method of decentralized robust tracking controller for robots with uncertain parameters is proposed. The dynamics of the joint subsystems are divided into two parts: an artificial nominal model and a nonlinear time-varying uncertain model. Then a corresponding nominal controller and a robust compensator are designed. The nominal controller enables the nominal closed-loop system to achieve desired tracking properties, and the robust compensator reduces the influence of the parameter uncertainties and the nonlinear couplings among the joints. Only using local position feedbacks, the controller has the advantage of easy realization and tuning on-line. The simulation results show the effectiveness of the method.