Abstract
本文研究了在扰动和不确定因素共存的情况下，机器人手臂系统的稳定控制问题，给出了保证其终结有界稳定的控制方案。该方案由一个力矩发生器和终结有界镇定器组成，它不依赖精确的机器人手臂模型，且能容忍一定程度的计算误差，这对于简化运算，提高控制计算机实时处理速度十分有益。
This paper studies the stabilization problem on RA, i. e. robot arm, in the face of disturbance and uncertainty. A new control strategy consisting of a torque generator and a linear continuous stabilizer is developed. It is shown the exact RA model is not required and ultimate boundedness stability of RA is guaranteed in the strategy presented. Moreover, this strategy is tolerable to a certain degree of computation error.
This paper studies the stabilization problem on RA, i. e. robot arm, in the face of disturbance and uncertainty. A new control strategy consisting of a torque generator and a linear continuous stabilizer is developed. It is shown the exact RA model is not required and ultimate boundedness stability of RA is guaranteed in the strategy presented. Moreover, this strategy is tolerable to a certain degree of computation error.
| Translated title of the contribution | A strategy for ultimate bounded control of robot arms with disturbances and uncertainties |
|---|---|
| Original language | Chinese (Simplified) |
| Pages (from-to) | 10-17 |
| Number of pages | 8 |
| Journal | 机器人 = Robot |
| Volume | 2 |
| Issue number | 6 |
| DOIs | |
| Publication status | Published - Dec 1988 |
| Externally published | Yes |
Funding
国家自然科学基金资助项目
Keywords
- 机器人手臂
- 受扰不确定
- 终结有界稳定
- robot arms
- stabilization disturbance and uncertainty
- ultimate boundedness