| 柔性机械臂基于观测的逆动力学轨迹跟踪控制 |
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| 引用本文： | 王国利,韩建达.柔性机械臂基于观测的逆动力学轨迹跟踪控制[J].机器人,1999,21(3):177-183. |
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| 作者姓名： | 王国利 韩建达 |
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| 作者单位： | 1. 汕头大学计算机系,汕头,515063
2. 中国科学院沈阳自动化研究所开放实验室,沈阳,110015 |
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| 摘 要： | 本文探讨了稳定逆动力学与基于观测的状态误差反馈镇定器集成实现柔性机械臂
末端轨迹跟踪的控制策略．基于观测器可以充分利用由稳定逆动力学生成的理想状态轨迹信
息，实现全状态误差的反馈镇定以消除末端轨迹跟踪的扰动误差．
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| 关 键 词： | 柔性机械臂 逆动力学 轨迹跟踪控制 |
| 修稿时间： | 1998-11-18 |
OBSERVER-BASED INVERSE DYNAMIC CONTROL FOR TRAJECTORY TRACKING OF A FLEXIBLE MANIPULATOR |
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| WANG Guoli,HAN Jianda.OBSERVER-BASED INVERSE DYNAMIC CONTROL FOR TRAJECTORY TRACKING OF A FLEXIBLE MANIPULATOR[J].Robot,1999,21(3):177-183. |
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| Authors: | WANG Guoli HAN Jianda |
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| Abstract: | This paper explores the control scheme of integrating stable inverse dynamics with observer based state error feedback stabilizing controller for achieving tip trajectory tracking control of a flexible manipulator. Observer based scheme allows for making full use of the desired state trajectory generated by stable inverse dynamics, thus the full state error feedback stabilization can be achieved to alleviate the tip trajectory tracking errors due to noise disturbance. |
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| Keywords: | Flexible manipulator inverse dynamic trajectory tracking control |
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