基于不确定逼近的机械手自适应鲁棒预测控制

针对具有参数不确定性和未知外部干扰的机械手轨迹跟踪问题提出了一种多输入多输出自适应鲁棒预测控制方法. 首先根据机械手模型设计非线性鲁棒预测控制律, 并在控制律中引入监督控制项; 然后利用函数逼近的方法逼近控制律中因模型不确定性以及外部干扰引起的未知项. 理论证明了所设计的控制律能够使机械手无静差跟踪期望的关节角轨迹. 仿真验证了本文设计方法的有效性.

Adaptive robust predictive control for robotic manipulator based on uncertain parameter approximation

A multi-input-multi-output adaptive robust predictive control method is presented to solve the trajectory tracking problem of robotic manipulator system with uncertain parameters and unknown external disturbances. A nonlinear robust predictive controller is first designed for the robotic manipulator system, and then a supervisory control is added to the controller. The function approximation is employed to approximate the unknown terms in the predictive control law caused by uncertain system model and external disturbances. It is proved that the proposed controller can make robotic manipulator track the desired joint angle trajectory without static error. Simulation results show the effectiveness of the method.