| 移动机械手运动/力鲁棒自适应轨迹跟踪 |
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| 引用本文： | 王红旗,王庆林.移动机械手运动/力鲁棒自适应轨迹跟踪[J].控制与决策,2010,25(1). |
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| 作者姓名： | 王红旗 王庆林 |
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| 作者单位： | 1. 北京理工大学自动化学院,北京,100081;河南理工大学电气工程与自动化学院,河南,焦作,454000
2. 北京理工大学自动化学院,北京,100081 |
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| 摘 要： | 针对移动机械手控制器设计中用隐函数定理进行模型降阶时存在的一些问题，把完整和非完整约束的统一形式引入到系统的动力学模型降阶中．基于该降阶模型设计了不确定移动机械手稳定的运动／力鲁棒自适应线性参数模糊控制器．理论分析和仿真结果表明，设计的控制器简单有效．
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| 关 键 词： | 移动机械手 鲁棒自适应 模糊控制 完整和非完整约束 |
| 收稿时间： | 2009-3-13 |
| 修稿时间： | 2009-4-24 |
Motion/force robust and adaptive trajectory tracking of mobile manipulator |
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| WANG Hong-qi,WANG Qing-lin.Motion/force robust and adaptive trajectory tracking of mobile manipulator[J].Control and Decision,2010,25(1). |
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| Authors: | WANG Hong-qi WANG Qing-lin |
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| Affiliation: | 1.School of Automation/a>;Beijing Institute of Technology/a>;Beijing 100081/a>;China/a>;2.School of Electrical Engineering and Automation/a>;He'nan Polytechnic University/a>;Jiaozuo 454000/a>;China |
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| Abstract: | Design method of motion/force robust and adaptive controller for uncertain mobile manipulator suffering holonomic and un-holonomic constrains is researched.In view of some problems existing in model reduction with the implicit function theorem when designing the controller of mobile manipulator,a unified form of holonomic and un-holonomic constrains is introduced into system's dynamic model reduction.Based on the reduced model,a steady motion/force robust and adaptive linear parameter fuzzy controller for u... |
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| Keywords: | Mobile manipulator Robust and adaptive Fuzzy control Holonomic and un-holonomic constrains |
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