共查询到19条相似文献,搜索用时 62 毫秒
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基于计算力矩结构,研究参数和结构不确定的机器人轨迹跟踪的鲁棒控制策略.其特点是利用了机器人不确定动力学的集中包络函数,在该包络函数已知的情况下,设计的非线性连续补偿控制律能够有效消除系统的不确定性影响,保证系统达到三种不同的稳定性结果.另外,在该包络函数参数未知时,还设计了一个新颖的在线辨识器,可保证系统指数意义下的渐近收敛或一致有界. 相似文献
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《自动化学报》1999,25(5):1
In this paper, we discuss the problem of
tracking control for a class of nonlinear distributed parameter systems with unknown
parameters. By using the iterative learning control method, we have given the learning
algorithm and the sufficient conditions of precise tracking on L2(Ω) space and
W1,2(Ω) space. The algorithm has prevented its convergence depending on ideal
input ud(x,t). Its requirement on the system's nonlinearity is
not quanti tative but qualitative. And it brings strong robust performance to the control
systems. 相似文献
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基于奇异摄动的双连杆柔性臂模糊控制 总被引:3,自引:0,他引:3
讨论了双连杆柔性臂位置控制问题。应用拉格朗日-假设模态法建立系统的动力学方程,并用奇异摄动法将双连杆柔性臂系统分解为两个降阶的慢变子系统和快变子系统。针对柔性臂强非线性、强耦合性及不确定性等特点,给出一种慢变子系统在反馈线性化后采用模糊控制、快变子系统因呈线性系统而采用简单的最优控制的混合控制方法。其中,模糊控制是二维PD型控制器,其输入为关节角跟踪误差及其导数。最后进行了计算机仿真,结果表明,该方法不仅能实现柔性臂轨迹的快速、准确跟踪,有效的抑制弹性振动,并且对负载的变化具有强的鲁棒性。 相似文献
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空间机器人柔性臂的动力学轨迹跟踪控制 总被引:4,自引:0,他引:4
机器人柔性擘控制问题是目前机器人研究中的一个重点和难点,本文动用基于关节的求逆技术,得到了有关大质量负载的空间机器人柔性臂动力学轨迹跟踪非线性控制问题的有效方法,并以一平面二杆空间机器人柔性臂为例进行了控制的仿真研究,仿真研究的结果表明,该方法具有较高的可靠性和良好的控制效果。 相似文献
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《自动化学报》1999,25(1):geMap1
Aiming at high speed
visual tracking,this paper presents a new control scheme from the point of integration of
vision and control.To track a curve,the control is decomposed into two subfunctions.One is
the velocity control which controls the center of a CCD camera to move along the
tangential direction of the curve.The other is the position control which controls the
cneter of the CCD camera to move in the normal direction approaching to the curve.In order
to improve the tracking performances,the proposed control scheme was realized in servo
rate by the aid of a transputer based parallel controller.The tracking speed reached
250mm/s with a small field of view(26.4mm×26.4mm). 相似文献
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本文探讨了稳定逆动力学与基于观测的状态误差反馈镇定器集成实现柔性机械臂
末端轨迹跟踪的控制策略.基于观测器可以充分利用由稳定逆动力学生成的理想状态轨迹信
息,实现全状态误差的反馈镇定以消除末端轨迹跟踪的扰动误差. 相似文献
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工业机器人在特殊位形下的瞬时运动 总被引:4,自引:0,他引:4
本文具体分析了工业机器人在特殊位形下的瞬时运动,以STANFORD机器人为例,分析其在特殊位形下约束运动的性质及允许移动的方向和转动时轴线存在的子空间,得出反螺旋的螺距为零时,处地特殊位形的6种组合形成,并给出了每种特殊位形在参考价值 标的反螺旋及存在的运动螺旋的一般表达式和相应的运动图谱。 相似文献
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链式系统的轨迹跟踪控制 总被引:7,自引:0,他引:7
研究了链式系统的轨迹跟踪控制问题,提出一种新的跟踪方案,设计出能实现全局轨迹跟踪的一维动态控制器,将其用于一类轮式机器人的控制中.仿真结果表明所提方法的有效性. 相似文献
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In this paper, the problem of output tracking for single-input/single-output nonlinear systems in the presence of mismatched uncertainty is studied. In our problem, the so-called matching condition in the literature is further relaxed, and a more general condition on the uncertainty is given. To attenuate the effects of uncertainties on the tracking error, a design method which is referred to as the Stable Combined Variable Perturbation Method (SCVPM) is presented. Based on this design method, a new robust tracking controller is derived using hyb rid control strategy. This controller, taken as a root-controller, is then used to generate two other controllers. All these controllers guarantee robustness of the closed-loop system, only with different tracking accuracies. The design method as well as the robust controllers is characterized by a small robust design parameter, ϵ. The tracking error converges to an ϵ-neighbourhood of the origin, and, by letting ϵ go to zero, the accuracy of tracking can be improved to any desired degree. Finally, an example is given and the simulation results confirm the theoretical analyses, thus show the effectiveness of the new design method and controllers. 相似文献
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针对自抗扰控制器耦合参数过多,传统经验整定法难以整定的问题,提出一种改进的鲨鱼优化算法对参数进行在线整定.通过自适应控制因子、双种群寻优、位置废弃等策略改善传统鲨鱼优化算法易陷入局部最优和开发勘探能力不平衡的缺陷.将整定后的自抗扰控制器对机械臂进行轨迹跟踪实验.实验结果表明,优化后的自抗扰控制器有效降低了轨迹跟踪误差,... 相似文献