基于一类饱和函数的机器人混合鲁棒/自适应控制  

MIXED ROBUST/ADAPTIVE CONTROL OF ROBOT MANIPULATORS BASED ON A CLASS OF SATURATION FUNCTIONS

作　　者：代颖[1] 谢明江[1] 施颂椒[1] 

机构地区：[1]上海交通大学自动化系,上海200030

出　　处：《机器人》2000年第5期371-376,共6页Robot

摘　　要：提出一类不需要线性 PD反馈的混合鲁棒 /自适应控制策略 ,用于不确定性机器人的轨迹跟踪 .其控制结构由一个补偿参数不确定性的自适应控制器和补偿非参数不确定性的鲁棒控制器构成 .其主要特点是基于一类饱和型函数 ,提出了一类新颖的鲁棒控制器和非线性滑动变量的设计方法 .基于 L yapunov方法的理论分析和计算机仿真 ,均保证设计的控制策略能够消除系统所有的不确定性影响 ,并达到全局的渐近稳定 .This paper proposes a class of mixed robust/addaptive control schemes without linear PD feedback for trajectory tracking of robots with uncertainties. The control structure consists of a adaptive controller used to compensate for the parametric uncertainty and a nonlinear robust controller used to compensate for the unparametric uncertainty. The main feature of the control approach is that a new class of nonlinear sliding variables and continuous nonlinear robust controllers are developed based on a class of saturation type functions to simplify the controller design. It is shown by Lyapunov's theorem and simulations that uncertain effects such as frictions and external disturbances are e lim inated, and also the global asymptotic stability can be warranted.

关 键 词：机器人 自适应控制 鲁棒控制器 饱和函数 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]