基于输入有界机器人鲁棒自适应控制策略研究

本文针对常规机器人的鲁棒控制器设计的保守性和实际中执行机构输出的有界性产生矛盾，设计出一种新型输入有界的机器人鲁棒自适应控制器，解决了力矩受限情况下机器人控制器的设计问题，为机器人向小型化、节能型等特殊要求领域发展，提供了一条新的途径。

Strategies research on robot robust adaptive controller based on constrained input

Because of the conservative nature in designing the conventional robust controllers, they perform very high amplitude and high velocity. However, they are hard to realize in practice. So a novel robot robust adaptive controller based on constrained input is designed. This subject can provide the robot control strategy with lower amplitude of the controller, which provide a new way for the practical application of modern control strategies in large extent.