指数稳定的机器人鲁棒跟踪控制

本文提出了一种用于控制具有参数不确性机器人轨迹踊跃的鲁棒控制策略，该控制器的设计根据Ｌｙａｐｕｎｏｖ理论，由一个基于Ｓｌｏｔｉｎｅ方法的标称控制器和一个非线性连续反馈补偿器组成。

AN EXPONENTIALLY STABLE ROBUST TRACKING CONTROL OF ROBOT MANIPULATORS

This paper proposes a robust control algorithm for the trajectory tracking of robot manipulators with parametric uncertainty. The controller is designed based on a Lyapunov method , which consists of a nominal control part and a continuous state feedback compensator. It is shown that the effect of large parametric uncertainty can be eliminated and exponential stability can be guaranteed by using a continuous state feedback controller in the closed loop system for the robot manipulator. In addition, when the upper bound on the parametic uncertainty is assumed to be unknown, we modify the control scheme by introducing a simple estimation law in order that globally asymptotic stablity can be guaranteed.