控制理论与应用2012，Vol.29Issue(5)：635-641,7.
基于不确定逼近的机械手自适应鲁棒预测控制
Adaptive robust predictive control for robotic manipulator based on uncertain parameter approximation
摘要
Abstract
A multi-input-multi-output adaptive robust predictive control method is presented to solve the trajectory tracking problem of robotic manipulator system with uncertain parameters and unknown external disturbances. A nonlinear robust predictive controller is first designed for the robotic manipulator system, and then a supervisory control is added to the controller. The function approximation is employed to approximate the unknown terms in the predictive control law caused by uncertain system model and external disturbances. It is proved that the proposed controller can make robotic manipulator track the desired joint angle trajectory without static error. Simulation results show the effectiveness of the method.关键词
机械手/鲁棒预测控制/自适应控制/监督控制Key words
robotic manipulator/robust predictive control/adaptive control/supervisory control分类
信息技术与安全科学引用本文复制引用
陈志旺,薛佳伟..基于不确定逼近的机械手自适应鲁棒预测控制[J].控制理论与应用,2012,29(5):635-641,7.基金项目
河北省自然科学基金资助项目（F2010001322）. （）
