| 参数不确定机械臂的自适应反演跟踪控制 |
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| 引用本文： | 乔继红. 参数不确定机械臂的自适应反演跟踪控制[J]. 北京工商大学学报(自然科学版), 2007, 25(2): 40-42 |
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| 作者姓名： | 乔继红 |
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| 作者单位： | 北京工商大学,信息工程学院,北京,100037 |
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| 摘 要： | 针对具有参数不确定性的单机械臂系统,采用自适应反演法设计出跟踪控制器,并且给出了不确定参数的自适应律.证明了设计的控制器能够保证闭环自适应系统的稳定性,并具有良好的跟踪控制效果.仿真结果表明本文采用的方法是正确有效的.
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| 关 键 词： | 反演法 单机械臂系统 自适应控制 |
| 文章编号： | 1671-1513（2007）02-0040-03 |
| 收稿时间： | 2006-10-26 |
| 修稿时间： | 2006-10-26 |
ADAPTIVE OUTPUT TRACKING CONTROL OF UNCERTAIN ROBOT SYSTEM BY BACKSTEPPING APPROACH |
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| QIAO Ji-hong. ADAPTIVE OUTPUT TRACKING CONTROL OF UNCERTAIN ROBOT SYSTEM BY BACKSTEPPING APPROACH[J]. Journal of Beijing Technology and Business University:Natural Science Edition, 2007, 25(2): 40-42 |
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| Authors: | QIAO Ji-hong |
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| Affiliation: | College of Information Engineering, Beijing Technology and Business University, Beijing 100037, China |
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| Abstract: | An output tracking controller is designed to a one-DOF link robot system by adaptive backstepping approach,the character of the robot system is that there are uncertain parameters.The designed controller can guarantee the stability of the closed-loop adaptive system and the good tracking performance as well.The simulation is used to demonstrate the effectiveness of the approach presented in this paper. |
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| Keywords: | backstepping one-link robot system adaptive control |
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