| 基于组合非线性反馈机器人控制吸引域评估 |
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| 引用本文： | 赵丽敏,苏剑波,彭文东.基于组合非线性反馈机器人控制吸引域评估[J].系统工程与电子技术,2008,30(10). |
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| 作者姓名： | 赵丽敏 苏剑波 彭文东 |
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| 作者单位： | 上海交通大学自动化系,上海,200240 |
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| 基金项目： | 国家自然科学基金，教育部跨世纪优秀人才培养计划 |
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| 摘 要： | 在机器人的关节空间轨迹控制跟踪控制中,全局渐近的控制方法在存在驱动器饱和与摩擦扰动时,很难得到理想的控制效果.针对组合非线性反馈与计算力矩相结合的控制方法,研究了机器人驱动器存在输入限制时的吸引域评估方法.用Ricatti方程迭代法设计线性增益,以获得尽量大的吸引域,仿真结果证明了所提方法的有效性.
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| 关 键 词： | 机器人控制 吸引域 饱和函数 组合非线性反馈 |
On evaluating domain of attraction of robotic control based on composite nonlinear feedback |
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| ZHAO Li-min,SU Jian-bo,PENG Wen-dong.On evaluating domain of attraction of robotic control based on composite nonlinear feedback[J].System Engineering and Electronics,2008,30(10). |
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| Authors: | ZHAO Li-min SU Jian-bo PENG Wen-dong |
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| Abstract: | For a robotic manipulator system with actuator input constraints,a method to evaluate the domain of attraction of the system is proposed.For the control method combining composite nonlinear feedback and computed-torque control,an iterative Ricatti equation algorithm is given to design such a linear gain that leads to a domain of attraction as large as possible.Simulation shows the effectiveness of the proposed approach. |
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| Keywords: | robot control domain of attraction saturation function composite nonlinear feedback |
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