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针对机器人运动控制模型中存在的未知项建模误差,提出了基于迭代学习与滑模控制的机器人组合自适应控制方法。将机器人动力学方程以状态回归量的形式表示,使时变参数与物理参数分离,通过设计的参数自适应律,实现了对未知参数的在线估计。将跟踪误差限制在滑模面上,实现了对目标轨迹的有效跟踪。仿真实例表明,提出的组合控制算法在机器人轨迹跟踪中具有一定的可行性。
Aimed at the unknown errors in the model of robot motion control, a hybrid adaptive control method based on iterative learning and sliding mode control is proposed. The dynamic equation of the robot is expressed in terms of the state regression, and the time-varying parameters are separated from the physical parameters. By designing the parameter adaptive law, the online estimation of the unknown parameters is realized. The tracking error is limited to the sliding surface to achieve the effective tracking of the target trajectory. The simulation results show that the proposed combined control algorithm has some feasibility in robot trajectory tracking.