东南大学学报（英文版）2016，Vol.32Issue(2)：183-186,4.DOI:10.3969/j.issn.1003-7985.2016.02.009
一种工业机器人轨迹跟踪的自适应切换控制方法
An adaptive switching control approach for trajectory tracking of robotic manipulators
摘要
Abstract
In order to design a suitable controller which can achieve accurate trajectory tracking and a good control performance, and guarantee the stability and robustness of a robot system due to external disturbances error and internal parameter variations, an adaptive switching control strategy is proposed. The proposed scheme is designed under the condition of bounded distances and consists of an adaptive switching law and a PD controller. Based on the Lyapunov stability theory, it is proved that the proposed scheme can guarantee the tracking performance of the robotic manipulator and is adapted to varying unknown loads. Simulations are carried out on a two-link robotic manipulator, which illustrate the feasibility and validity of the proposed control scheme and the robustness for variational payloads.关键词
自适应控制/切换控制/工业机器人/轨迹跟踪Key words
adaptive control/switch control/robotic manipulator/trajectory tracking分类
信息技术与安全科学引用本文复制引用
杨振,费树岷,王芳,鲍安平,刘顾全..一种工业机器人轨迹跟踪的自适应切换控制方法[J].东南大学学报（英文版）,2016,32(2):183-186,4.基金项目
The National Natural Science Foundation of China ( No.61273119,61374038,61473079) （ No.61273119,61374038,61473079）
