| 基于期望轨迹补偿的机器人鲁棒自适应控制 |
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| 引用本文： | 王延玉,刘国栋. 基于期望轨迹补偿的机器人鲁棒自适应控制[J]. 计算机系统应用, 2011, 20(9): 139-143 |
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| 作者姓名： | 王延玉 刘国栋 |
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| 作者单位： | 江南大学物联网工程学院,无锡,214122 |
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| 摘 要： | 针对机器人存在的参数不确定性和外扰的问题,提出了一种基于期望轨迹补偿和自适应控制的方法,在传统自适应控制方法的基础上,结合变结构控制方法,设计了一种新的控制策略.该方法采用期望轨迹补偿,离线计算回归矩阵,可以有效节约控制系统在线计算的时间,实时性好,并利用变结构思想补偿非线性摩擦和外界干扰,利用lyapunov直接法分...
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| 关 键 词： | 机器人 期望轨迹 自适应控制 变结构 |
| 收稿时间： | 2011-01-18 |
| 修稿时间： | 2011-03-10 |
Robust Adaptive Controller for Robot Manipulator Based on Desired Trajectory Compensation |
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| WANG Yan-Yu and LIU Guo-Dong. Robust Adaptive Controller for Robot Manipulator Based on Desired Trajectory Compensation[J]. Computer Systems& Applications, 2011, 20(9): 139-143 |
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| Authors: | WANG Yan-Yu and LIU Guo-Dong |
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| Affiliation: | WANG Yan-Yu,LIU Guo-Dong(Internet of Things Engineering Institute,Southern Yangtze University,Wuxi 214122,China) |
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| Abstract: | A robust adaptive controller with guaranteed transient performance under a desired compensation adaptation law is developed for trajectory tracking control of robot manipulator in the presence of parametric uncertainties and external disturbances.With some modifications to the conventional adaptation law,a new control law is redesigned by combining the design methodologies of adaptive control and sliding mode control.The adaptive scheme has best computationally efficient for real-time calculating of the reg... |
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| Keywords: | robot desired trajectory adaptive control variable structure |
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