基于递推设计的鲁棒自适应摩擦补偿  

Robust adaptive friction compensation based on backstepping design

作　　者：王中华[1] 杨波[1] 王玉惠[1] 

机构地区：[1]济南大学信息科学与工程学院,山东济南250022

出　　处：《系统工程与电子技术》2004年第12期1860-1863,共4页Systems Engineering and Electronics

基　　金：济南大学博士基金资助课题(B0208)

摘　　要：针对机械运动控制系统中的非线性摩擦、惯量及外部扰动等不确定性,应用分段递推法设计了一种新型鲁棒自适应跟踪控制器。运用Lyapunov稳定理论证明这种控制器具有指数稳定的特点,且跟踪误差可以自由调整。仿真和实验结果表明,这种控制器具有良好的跟踪精度,其性能优于常规的PD控制。Aiming at the major sources of uncertainties in the mechanical motion control system such as nonlinear friction, inertia and external disturbances, a novel robust adaptive tracking controller is designed using backstepping method. The exponentially stable of the controller and the tracking error being freely adjusted are proven using Lyapunov stability theory. The results of simulation and experiments are presented to demonstrate the controller's high accuracy performance and over conventional PD controller.

关 键 词：鲁棒自适应控制 递推设计 指数稳定 跟踪控制 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]