Abstract
研究了具有不确定参数的机器人轨迹跟踪控制问题。提出了一种鲁棒控制方案，它由改进力矩发生器和鲁棒补偿器组成，理论分析及仿真实验表明，该控制方案具有较好的跟踪性能。
This paper is devoted to the trajectory tracking control problem of a robot manipulator with disturbances and uncertain parameters. A new robust control strategy consisting of a modified torque generator and a robust compensator is proposed. It is proved through theoretical analysis and simulation experiment that the presented strategy has several attractive properties.
This paper is devoted to the trajectory tracking control problem of a robot manipulator with disturbances and uncertain parameters. A new robust control strategy consisting of a modified torque generator and a robust compensator is proposed. It is proved through theoretical analysis and simulation experiment that the presented strategy has several attractive properties.
| Translated title of the contribution | Robust trajectory tracking control of robot manipulators with uncertain parameters |
|---|---|
| Original language | Chinese (Simplified) |
| Pages (from-to) | 101-107 |
| Number of pages | 7 |
| Journal | 北京航空航天大学学报 = Journal of Beijing University of Aeronautics and Astronautics |
| Volume | 1989 |
| Issue number | 4 |
| DOIs | |
| Publication status | Published - Dec 1989 |
| Externally published | Yes |
Keywords
- 机器人
- 不确定参数
- 轨迹跟踪
- 鲁棒控制
- robot manipulator
- uncertain parameter
- trajectory tracking
- robust control