一类关于不确定性机器人的鲁棒控制策略

基于计算力矩结构,研究参数和结构不确定的机器人轨迹跟踪的鲁棒控制策略.其 特点是利用了机器人不确定动力学的集中包络函数,在该包络函数已知的情况下,设计的非 线性连续补偿控制律能够有效消除系统的不确定性影响,保证系统达到三种不同的稳定性结 果.另外,在该包络函数参数未知时,还没计了一个新颖的在线辨识器,可保证系统指数意义 下的渐近收敛或一致有界.

A CLASS OF ROBUST CONTROL STRATEGIES FOR ROBOT ANIPULATORS WITH UNCERTAINTIES

This paper proposes a new class of robust control strategies based on the so called computed torque structure for trajectory tracking of robot manipulator with uncertainties.The novelty lies in the design of continuous nonlinear compensator which is based on the lumped nonlinearites and uncertainties of the system.It is shown by theories and simulations that uncertain effects can be eliminated and globally exponential stability,globally asymptotic stability or globally uniform ultimate boundedness stability can be guaranteed.In addition,when the bounds of the lumped uncertainties are unknown,a new adaptive control law is proposed to ensure the globally asymptotic stability in a sense of exponential convergence or globally uniform ultimate boundedness stability.