论文部分内容阅读
运用Backstepping设计方法,对电驱动刚性机械手轨迹跟踪控制问题提出了一种鲁棒控制方案,并用非线性系统LYAPUNOV数学理论进行了稳定性分析,得到轨迹跟踪误差渐近稳定等结果。
By using Backstepping design method, a robust control scheme is proposed for trajectory tracking control of rigid manipulator. The stability of the manipulator is analyzed by LYAPUNOV mathematical theory, and the results are asymptotically stable.