基于不确定逼近的机械手间接自适应鲁棒预测控制

为了使机械手系统在含有模型不确定项时具有良好的跟踪性能和较强的抗干扰能力，提出了一种间接自适应鲁棒预测控制。首先,针对机械手模型设计出非线性鲁棒预测控制器；然后,基于三次样条函数逼近控制律中因模型不确定性产生的未知项，并在控制律中引入一个D-控制项抑制外部干扰。理论证明了所设计的控制器能够使跟踪误差收敛到原点。仿真验证了所提方法的有效性。

Indirect adaptive robust predictive control of robotic manipulators based on uncertain parameter approximation

In order to make the robotic manipulator system track well and have strong disturbance-opposing ability under the circumstance of parametric uncertainty and external disturbance,an indirect adaptive robust predictive control method was presented.The nonlinear robust predictive controller was designed based on the robotic manipulator system.Then,the cubic spline functions controller was constructed to approximate the unknown terms in the predictive control law caused by system model uncertainties.And the D-controller was added into the control law to inhibit the external disturbance.It is proved that the proposed controller can make the tracking error converge to the origin.The simulation results show the effectiveness of the method.