四自由度机械臂的模型参考自适应双重控制

对于参数存在较大不确定性的系统,自适应控制存在的主要问题是在快速调节过程中过渡过程出现大的超调量.为了解决多关节机械臂在运动过程中转动惯量变化较大的问题,分析了基于确定性等价原则的自适应控制器和谨慎控制器的局限性,提出了一种模型参考自适应双重控制算法,并将其用于机械臂的位姿控制.三种控制算法的仿真和实验研究表明,双重控制器的控制性能优于基于确定性等价原则的自适应控制器和谨慎控制器的性能.

Dual model reference adaptive control to four-degree mechanical arm

The shortcomings of adaptive control arise especially in the case of the systems with significant uncertainty on plant parameters,such as large overshoots in the transient stages,and the traditional adaptive controller based on certainty equivalence(CE) assumption and cautious controller can not provide good control quality for these systems with unknown and time-varying parameters.To overcome the problem of large moment of inertia changes of the multi-joint mechanical arm in motion,a model reference adaptive dual control algorithm is presented and used in the pose control of mechanical arm.The simulation and experimental results show that the performance of dual control is superior to that of the traditional adaptive control based on the CE assumption and the cautious control.