基于混合H/sup /spl ///自适应控制器的机械臂鲁棒控制

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI:10.1109/IROS.1994.407495

H. Tam, Y. Hung, S. Tso

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引用次数: 1

摘要

提出了一种将H/sup /spl / inin //控制器与自适应控制器相结合的机器人机械臂鲁棒混合控制方法。采用H/sup /spl / ininfin //控制器使机器人模型参数不确定性对跟踪性能的影响最小化，而自适应控制器不断调整模型参数以减小模型误差。仿真结果表明，该方法能快速补偿模型误差产生的干扰，从而实现较小的跟踪误差。

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Robust control of robot manipulators using hybrid H/sup /spl infin///adaptive controller

A robust hybrid control method for robot manipulators is proposed which integrates an H/sup /spl infin// controller and an adaptive controller. The H/sup /spl infin// controller is used to minimize the effect of parameter uncertainties of the robot model on the tracking performance, while the adaptive controller continuously adjusts the model parameters to reduce the model error. Simulations show that disturbances generated from the model error will be quickly compensated and so small tracking errors can be achieved.<>

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Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)

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