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本文提出一种刚性机械臂跟踪控制器设计的新方法,文中对机械臂动力学中不确定性较小和不确定性大两种情况给出了设计方法,其中鲁棒控制器由最优标称跟踪控制器和额外补偿器两部分组成。采用文中给出的鲁棒控制器,能保证机械臂的实际跟踪误差在有限时间内减少到预先给定的包含原点为内点的区域。
In this paper, a new method of rigid manipulator tracking controller design is proposed. In this paper, the design method is given for two cases with less uncertainty and uncertainties in the dynamics of the manipulator, in which the robust controller consists of the optimal superscript Called tracking controller and additional compensator composed of two parts. The robust controller given in this paper can ensure that the actual tracking error of the manipulator can be reduced within a limited time to a predetermined area containing the origin as the interior point.