输入受限机器人的鲁棒自适应输出反馈跟踪控制

在输入受限的情况下，通过一个线性一阶滤波器，实现机器人的鲁棒自适应输出反馈跟踪控制，解决了自适应控制算法的鲁棒性问题，即当满足持续激励条件及估计参数域包含参数真实值时，闭环系统能够实瑰渐近穗定跟踪，本算法简单有效，不仅提高了鲁棒性，改善了控制品质，同时对于参数域估计误差也具有很强的鲁棒性，仿真算饲验证了算法的有效性。

Robust-adaptive output-tracking control of robot manipulators under input constraints

In the presence of input constraints, a output feedback scheme of robust-adaptive tracking control for robot manipulators is proposed based on a linear first-order filter. The robustness problem of conventional adaptive algorithms is resolved in turn. The proposed controller can stabilize the system with some disturbance. When the estimated parameter-region contains the true parameters, asymptotic stability is guaranteed in the case of non-disturbance if the persistency of excitation-condition is satisfied. This robust algorithm is quite simple, and provides further flexibility for adaptive control design as well as better transient performance and robustness to disturbance and error of estimated parameter-region especially. Simulation results demonstrate the effectiveness of the method.