| 单接点机械手的自适应控制 |
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| 引用本文： | 李春霖,刘玉生,张静,郭燕.单接点机械手的自适应控制[J].微计算机信息,2006,22(5):204-205. |
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| 作者姓名： | 李春霖 刘玉生 张静 郭燕 |
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| 作者单位： | 610065,成都四川大学电气信息学院 |
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| 摘 要： | 针对带一个灵活旋转关节的单接点机械手非线性参数化模型,本文采用一种鲁棒自适应控制策略,仿真结果证明了闭环系统各变量均有界,且通过适当改变控制器参数可以使跟踪均方误差任意小。
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| 关 键 词： | 自适应控制 未建模动态 非线性系统 机械手 |
| 文章编号： | 1008-0570(2006)02-2-0204-02 |
| 修稿时间： | 2005年8月6日 |
Adaptive Control of Single-link Robot Arm System |
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| Li,Chunlin,Liu,Yusheng,Zhang,Jing,Guo,Yan.Adaptive Control of Single-link Robot Arm System[J].Control & Automation,2006,22(5):204-205. |
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| Authors: | Li Chunlin Liu Yusheng Zhang Jing Guo Yan |
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| Abstract: | A robust adaptive control scheme is adapted for a simple one- link robot arm with one revolute elastic joint. The model isnonlinearly parameterized. The simulation results demonstrate that all the variables in the closed- loop system are bounded and themean- square tracking error can be made arbitrarily small by choosing some design constants appropriately. |
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| Keywords: | adaptive control unmodeled dynamics nonlinear systems robot arm |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
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