| 一类互联机器人系统的鲁棒分散跟踪控制 |
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| 引用本文： | 郑柏超,王银河. 一类互联机器人系统的鲁棒分散跟踪控制[J]. 动力学与控制学报, 2008, 6(1): 5-8 |
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| 作者姓名： | 郑柏超 王银河 |
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| 作者单位： | 汕头大学数学系,汕头,515063;汕头大学数学系,汕头,515063 |
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| 摘 要： | 研究互联机器人系统在受到模型不确定性和外部干扰情况下的鲁棒轨迹跟踪问题.针对系统中存在的不确定动力学问题,在不确定项的连续界函数已知的情况下,基于Lyapunov设计方法提出一种鲁棒分散控制器的设计方法,实现互联机器人系统位置和速度的渐近跟踪.仿真算例表明了该方法的有效性.
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| 关 键 词： | 机器人系统 分散控制 鲁棒跟踪控制 组合系统 |
| 文章编号： | 1672-6533/2008/06(l)/005-04 |
| 收稿时间： | 2007-06-30 |
| 修稿时间： | 2007-05-08 |
Decentralized robust tracking control for a class of interconnected robot systems |
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| Zheng Bochao and Wang Yinghe. Decentralized robust tracking control for a class of interconnected robot systems[J]. Journal of Dynamics and Control, 2008, 6(1): 5-8 |
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| Authors: | Zheng Bochao and Wang Yinghe |
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| Affiliation: | Department of Mathematics;Shantou University;Shantou 515063;China |
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| Abstract: | The robust trajectory tracking strategies for a class of interconnected robot systems with uncertainties were investigated.Based on the continuous known bounded functions of uncertainties and Lyapunov method,the decentralized robust controllers were proposed.The controllers can guarantee that the position vectors and velocity vectors of interconnected robot systems can track the given trajectory asymptotically.The simulation results verify the method. |
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| Keywords: | robot system decentralized control robust tracking control composite system |
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