机器人自适应模型跟踪变结构控制
The Adaptive Model Following Variable Structure Control for Robot Manipulators
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摘要: 本文提出了一种机器人自适应模型跟踪变结构控制方案.它具有所要求的瞬态特性,其 控制规律以显式的方式给出,而且不需知道系统参数的变化范围,因而适用于多关节的机器人 系统.Abstract: An adaptive model following variable structure control scheme for robot manipulator is presented in this paper. It has the prescribed transient response, and the control law can be expressed in united formula and the information on possible size of system parameters is not required. Thus, it can be easily extended to the case of higher number of links.
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Key words:
- Robot /
- variable structure control /
- adaptation /
- model following
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