| 具有不确定参数的机器人鲁棒轨迹跟踪控制 |
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| 引用本文： | 宋永端,高为炳.具有不确定参数的机器人鲁棒轨迹跟踪控制[J].北京航空航天大学学报,1989(4):101-107. |
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| 作者姓名： | 宋永端 高为炳 |
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| 作者单位： | 北京航空航天大学应用数理系
(宋永端，高为炳)，北京航空航天大学应用数理系(程勉) |
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| 摘 要： | 研究了具有不确定参数的机器人轨迹跟踪控制问题。提出了一种鲁棒控制方案,它由改进力矩发生器和鲁棒补偿器组成,理论分析及仿真实验表明,该控制方案具有较好的跟踪性能。
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| 关 键 词： | 机器人 鲁棒控制 轨迹跟踪 参数 |
ROBUST TRAJECTORY TRACKING CONTROL OF ROBOT MANIPULATORS WITH UNCERTAIN PARAMETERS |
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| Song Yongduan Gao Weibing Cheng Mian.ROBUST TRAJECTORY TRACKING CONTROL OF ROBOT MANIPULATORS WITH UNCERTAIN PARAMETERS[J].Journal of Beijing University of Aeronautics and Astronautics,1989(4):101-107. |
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| Authors: | Song Yongduan Gao Weibing Cheng Mian |
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| Abstract: | This paper is devoted to the trajectory tracking control problem of a robot manipulator with disturbances and uncertain parameters.A new robust control strategy consisting of a modified torque generator and a robust compensator is proposed.It is proved through theoretical analysis and simulation experiment that the presented strategy has several attractive properties. |
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| Keywords: | robot manipulator uncertain parameter trajectory tracking robust control |
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