机构地区: 汕头大学理学院数学系
出 处: 《计算技术与自动化》 2007年第3期25-29,共5页
摘 要: 研究一类存在模型不确定性和外部扰动的互联机器人系统的控制问题。控制器由一般线性控制器,线性自适应控制器和非线性自适应控制器综合构成。通过Lyapunov理论证明设计的鲁棒分散自适应控制器能够有效地克服不确定性对系统的影响,实现闭环系统的渐近轨迹跟踪控制。最后给出一个仿真例子进一步验证控制器的有效性。 A decentralized robust adaptive control scheme is given for a class interconnected robot systems with modeling uncertainties and exterior disturbances . The proposed controller is a composition of general linear controller, linear adaptive controller and nonlinear adaptive controller. It is proved by Lyapunov theories that the controller is capable of overcoming the uncertain effect effectively and realizing the trajectory tracking asymptotically for the closedloop systems. Finally, a simulation example is given to show the effectiveness of the control scheme.
领 域: [自动化与计算机技术] [自动化与计算机技术]