机器人操作器有限时间跟踪中继切换控制  

Relay Switching Controller with Finite Time Tracking for Rigid Robotic Manipulators

作　　者：武玉强  宗广灯  

机构地区：[1]Institute of Automation, Qufu Normal University, Qufu 273165 [2]Institute of Automation, Qufu Normal University, Qufu 273165,Institute of Automation, Southeast University, Nanjing 210096

出　　处：《自动化学报》2005年第3期412-418,共7页Acta Automatica Sinica

基　　金：国家自然科学基金，国家自然科学基金

摘　　要：A global relay switching control scheme with finite time convergence (FTC) is proposed for multi-joint rigid robotic manipulator systems with uncertain dynamics. For a general finite time controller, the control signals may tend to infinity in finite time when the initial states of the system are in some specified area, causing the singularity problem of the closed-loop system and finite escape.The design scheme for finite time tracking control uses a relay switching control method so that the boundedness of the control signal is guaranteed and the singularity phenomenon is avoided. The validity of our scheme is demonstrated by simulation results.A global relay switching control scheme with finite time convergence (FTC) is proposed for multi-joint rigid robotic manipulator systems with uncertain dynamics. For a general finite time controller, the control signals may tend to infinity in finite time when the initial states of the system are in some specified area, causing the singularity problem of the closed-loop system and finite escape. The design scheme for finite time tracking control uses a relay switching control method so that the boundedness of the control signal is guaranteed and the singularity phenomenon is avoided. The validity of our scheme is demonstrated by simulation results.

关 键 词：机器人操作器 切换控制 时间跟踪 中继 有限 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置] TP273.2[自动化与计算机技术—控制科学与工程]