电子科技大学学报Issue(1)：61-66,6.DOI:10.3969/j.issn.1001-0548.2015.01.010
一类具有多种不确定性机器人系统的自适应控制
Adaptive Control for a Class of Robotic Systems with Multiple Uncertainties
摘要
Abstract
Robotic systems suffer from different types of uncertainties which may affect the system control accuracy and even cause the system unstable. In this paper, for a class of uncertain robotic systems with external disturbance, internal dynamic parametric uncertainty and unknown dead-zone, an adaptive controller based on disturbance observer is proposed. First, the nonlinear mathematical model of robotic systems subject to external disturbance is established and the internal dynamic parametric uncertainty and unknown dead-zone in the system are analyzed. Then nonlinear disturbance observer is employed to estimate and compensate for the external disturbance. Based on the disturbance observer, an adaptive controller is then designed to deal with the uncertain dynamic parameters and unknown dead-zone. Finally, the stability and the convergence of the position tracking error of the system are proved via Lyapunov function analysis. Digital simulations demonstrate the validity of the proposed approach.关键词
自适应控制/动力学不确定性/外部干扰/机器人系统/未知死区Key words
adaptive control/dynamic uncertainty/external disturbance/robotic systems/unknown dead-zone分类
信息技术与安全科学引用本文复制引用
刘霞,陈勇..一类具有多种不确定性机器人系统的自适应控制[J].电子科技大学学报,2015,(1):61-66,6.基金项目
国家自然科学基金(61305104)；四川省科技支撑计划(2013GZX0152) （61305104）
