一类不确定性机器人的鲁棒跟踪控制

本文提出一种新的用以控制具有参数不确定性机器人的轨迹跟踪鲁棒控制方案。控制器由基于标称模型设计的非线性补偿控制器和基于Lyapunov理论设计的鲁棒补偿控制器构成，鲁棒补偿控制器用十消除参数误差带来的不确定性影响，其结构简单，只需知道系统的一个参数不确定性上界，最后保证系统达到三种不同的稳定性。另外，在机器人参数不确定性上界未知时，我们还设计了一个简单的在线辨识器，以保证系统全局收敛。并通过仿真实验证明其可靠性和有效性。

A Class of Robust Control Strategies for Trajectory Tracking of Uncertain Robot Manipulators

A new control strategy which is used for trajectory tracking of robot manipulators withparametric uncertainty is proposed. The proposed scheme consists of two parts. The first part isthe nonlinear compensating standard controller. The second part is a robust compensating controllerbased on Lyapnuov theory which has simple structure and is used for eliminate the effect caused byparametric uncertainty. Exact knowledge for robot dynamics is not needed except that the bound ofparametric uncertainty must be known. Three kinds of stability results(i.e. global uniform ultimateboundedness stability, global asymptotic stability and global exponential stability) can be guaranteedultimately based on desiger's choice. In addition when the bound of parametric uncertainty is unknown,an on-line estimate of this bound has been derived such that the global convergence can be guaranteed.The credibility and availability of the proposed strategy is shown by theory and simulation