| 双连杆机械臂的参考模型自适应控制 |
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| 引用本文： | 熊翌竹,郭华芳. 双连杆机械臂的参考模型自适应控制[J]. 机电工程技术, 2009, 38(10): 52-53,102 |
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| 作者姓名： | 熊翌竹 郭华芳 |
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| 作者单位： | 广东工业大学自动化学院,广东广州,510075;中国科学院广东能源研究所,广东广州,510507 |
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| 摘 要： | 双连杆机械臂是一种典型的非线性系统。本文运用经典的拉格朗日方程得到了该系统的状态方程式．在对方程线性化的过程中,设计了一个具有可调参数的控制器保证了系统的稳定性．利用基于李亚普诺夫稳定性的参考模型自适应的方法完成了仿真。
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| 关 键 词： | 双连杆机械臂 非线性系统 李亚普诺夫方法 参考模型 自适应控制 |
Model Reference Adaptive Control of Two Links Robot |
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| XIONG Yi-zhu,GUO Hua-fang. Model Reference Adaptive Control of Two Links Robot[J]. Mechanical & Electrical Engineering Technology, 2009, 38(10): 52-53,102 |
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| Authors: | XIONG Yi-zhu GUO Hua-fang |
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| Affiliation: | XIONG Yi-zhu1,GUO Hua-fang2(1.Guangdong University of Technology,Guangzhou 510075,China,2.Guangdong Energy Research Institute,Chinese Academy of Sciences,Guangzhou 510507,China) |
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| Abstract: | Two-link manipulator is a typical nonlinear system.In this paper,the classical Lagrange principle has been utilized to obtain the system state equation.In the process of equation linearization,a controller with adjustable parameters is designed to ensure the stability of the system,completing the simulation by the model reference adaptive approach based on Lyapunov stability. |
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| Keywords: | two-link manipulator nonlinear systems Lyapunov techniques model reference |
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