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针对刚性机械臂存在摩擦和扰动等不确定因素给轨迹跟踪控制带来的困难,本文基于李亚普诺夫稳定性理论,给出了一种机械臂的自适应控制方案.该方案针对机械臂的标称部分,采用计算力矩的方法设计相应的控制量,在此基础上,构造模糊系统逼近摩擦得到补偿控制量,并针对随机扰动的上界设计反馈控制率,以克服扰动带来的影响,保证系统的稳定性.仿真结果表明,该复合控制对于具有不确定性摩擦以及扰动的机械臂轨迹跟踪问题效果良好.
In view of the difficulty of trajectory tracking control caused by the uncertainties such as friction and disturbance of rigid manipulator, this paper presents an adaptive control scheme of manipulator based on Lyapunov stability theory. Weigh part, the method of calculating the torque to design the corresponding control volume, on this basis, the structure fuzzy system approximation of friction compensation control amount, and for the upper bound of the random disturbance design feedback control rate to overcome the disturbance caused by the guarantee The stability of the system.The simulation results show that the hybrid control is effective for trajectory tracking of robot with uncertainties of friction and disturbance.