信阳师范学院学报（自然科学版）Issue(4)：577-580,4.DOI:10.3969/j.issn.1003-0972.2014.04.027
基于演算子理论的含有未知不确定性机械臂的鲁棒非线性精确跟踪控制
Operator-based Robust Nonlinear Perfect Tracking Control to a Manipulator with Unknown Uncertainties
摘要
Abstract
An operator-based robust nonlinear perfect tracking control for a manipulator with uncertainties was pro-posed by using operator-based robust right coprime factorization approach. The unknown uncertainties of the manipula-tor dynamics consist of the unknown modeling errors in measuring structural parameters of the robot arm and the exter-nal disturbances in real situations. Considering the unknown uncertain plant generates limitations in obtaining the tracking controller, an operator-based feedback control scheme was designed to eliminate the effect of uncertain plant. Then, a new perfect tracking condition was proposed for improving the trajectory of the robot arm. Finally, the effec-tiveness of the designed system was confirmed by simulation results.关键词
机械臂/未知不确定性/鲁棒右互质分解/鲁棒非线性精确跟踪控制Key words
manipulator/unknown uncertainties/robust right coprime factorization/robust nonlinear perfect tracking control分类
信息技术与安全科学引用本文复制引用
刘琴..基于演算子理论的含有未知不确定性机械臂的鲁棒非线性精确跟踪控制[J].信阳师范学院学报（自然科学版）,2014,(4):577-580,4.基金项目
国家自然科学基金项目（61074022）；国际合作重大专项 （）
