机器人2000，Vol.22Issue(5)：371-376,6.
基于一类饱和函数的机器人混合鲁棒/自适应控制
MIXED ROBUST/ADAPTIVE CONTROL OF ROBOT MANIPULATORS BASED ON A CLASS OF SATURATION FUNCTIONS
摘要
Abstract
This paper proposes a class of mixed robust/addaptive control schemes without linear PDfeedback for trajectory tracking of robots with uncertainties. The control structure consists of a adaptivecontroller used to compensate for the parametric uncertainty and a nonlinear robust controller used tocompensate for the unparametric uncertainty. The main feature of the control approach is that a new class otnonlinear sliding variables and continuous nonlinear robust controllers are developed based on a class ofsaturation-type functions to simplify the controller design. It is shown by Lyapunov's theorem andsimulations that uncertain effects such as frictions and external disturbances are eliminated, and also theglobal asymptotic stability can be warranted.关键词
机器人/渐近稳定/鲁棒/自适应控制Key words
Robot manipulators/asymptotic stability/robust/adaptive control分类
信息技术与安全科学引用本文复制引用
代颖,谢明江..基于一类饱和函数的机器人混合鲁棒/自适应控制[J].机器人,2000,22(5):371-376,6.
