| 一种简单的机器人鲁棒自适应轨迹跟踪控制算法 |
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| 引用本文： | 陈启军,张宏辉,王月娟,陈辉堂.一种简单的机器人鲁棒自适应轨迹跟踪控制算法[J].华中科技大学学报(自然科学版),2004(Z1). |
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| 作者姓名： | 陈启军 张宏辉 王月娟 陈辉堂 |
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| 作者单位： | 同济大学控制科学与工程系 同济大学控制科学与工程系 上海 |
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| 摘 要： | 针对不确定性存在情况下的机器人轨迹跟踪 ,提出了一种鲁棒自适应轨迹控制算法 .控制算法是全局按指数收敛的 ,不需要知道机器人动力学模型 ,结构简单 ,计算量小 ,能使轨迹误差收敛到一任意小的区域内 .利用Lyapunov直接法分析了控制算法的稳定性和鲁棒性 .两关节直接驱动机器人的实验研究验证了算法的有效性 .
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| 关 键 词： | 轨迹跟踪 鲁棒自适应控制 不依赖模型 |
A simple robust adaptive trajectory tracking control for robotic manipulators |
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| Chen Qijun Zhang Honghui Wang Yuejuan Chen Huitang Prof., Dept. of Control Sci. & Eng.,Tongji Univ.,Shanghai ,China..A simple robust adaptive trajectory tracking control for robotic manipulators[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,2004(Z1). |
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| Authors: | Chen Qijun Zhang Honghui Wang Yuejuan Chen Huitang Prof Dept of Control Sci & Eng Tongji Univ Shanghai China |
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| Institution: | Chen Qijun Zhang Honghui Wang Yuejuan Chen Huitang Prof., Dept. of Control Sci. & Eng.,Tongji Univ.,Shanghai 200029,China. |
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| Abstract: | This paper proposes a robust adaptive trajectory control scheme for robotic trajectory tracking under uncertainties. The control scheme is globally exponentially convergent without the knowledge of the robotic dynamics and simple in structure with a small computation. It can make the trajectory error to be convergent to an arbitrary small region. Lyapunov approach is used to analyze the stability and the robustness of this control scheme. Experiments on a two-link direct-drive robotic manipulator verify the validity of the proposed control scheme. |
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| Keywords: | trajectory tracking robust adaptive control independent of model |
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