一种基于RBF补偿的自适应复合同步控制

针对Linapod并联机器人的同步轨迹跟踪问题，提出一种新的自适应复合同步控制策略。以Linapod 机构为研究对象，设计了一种将前馈控制、PD控制以及RBF适配器补偿相结合的复合同步控制策略，并根据李雅普洛夫稳定性条件给出了RBF适配器权值更新率，从而保证了控制系统的运动稳定性。研究结果表明，在该控制器的作用下，当向各轴加入单位正弦信号干扰和不加入干扰时，各轴跟踪误差都能小于0.003 mm，从而验证了该控制策略的有效性和正确性。

Adaptive Synchronization Control for the Linapod Robot

A new adaptive synchronization control strategy is first proposed for synchronous trajectories tracking problem of Lina-pod parallel robot. The combination strategy of feed-forward control, PD control and RBF adapter compensation is developed for trajectory tracking control of the robot, and the stable adaptive tuning laws of network parameters are derived in the sense of Lyapunov stability theory. Simulation studies are performed to demonstrate the effectiveness of the proposed method, and whether the unit sine signal interference is added or not, abstractly the tracking error of axis are all less than 0.003 mm.