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针对具有外界干扰和不确定性的机械臂轨迹跟踪控制问题,提出了一种自适应鲁棒补偿控制算法,将计算转矩法用于系统标称模型,鲁棒控制用于消除系统不确定性的影响,并通过自适应算法自动调节不确定项,保证系统存在建模误差和外部干扰时的稳定性和动态性能。给出了具体的控制算法设计和系统稳定性、收敛性证明,最后通过仿真实验,表明系统具有跟踪误差快速收敛性以及良好的鲁棒性。
In order to solve the trajectory tracking control problem of robotic arm with external disturbance and uncertainty, an adaptive robust compensation control algorithm is proposed. The computational torque method is applied to the system nominal model. Robust control is used to eliminate the system uncertainty The adaptive algorithm is used to automatically adjust the uncertainties to ensure the stability and dynamic performance of the system in the presence of modeling errors and external disturbances. The design of the control algorithm, the stability of the system and the proof of convergence are given. Finally, the simulation results show that the system has fast convergence and good robustness.