振动连杆机器人机械臂的鲁棒控制

The 24th Southeastern Symposium on and The 3rd Annual Symposium on Communications, Signal Processing Expert Systems, and ASIC VLSI Design System Theory Pub Date : 1992-03-01 DOI:10.1109/SSST.1992.712376

D. Shukla, D. Dawson, F. Paul

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引用次数: 0

摘要

针对振动连杆(VL)机器人的总质量模型，提出了一种鲁棒跟踪控制器的设计方法。控制方法直观简单，因为它基于大多数控制工程师熟悉的概念。通过开发一种鲁棒跟踪控制器来说明该方法，该控制器可以在模型不确定性和附加链路动力学的情况下实现链路跟踪误差的全局一致最终有界(GUUB)稳定性。

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Robust Control of a Vibrating Link Robot Manipulator

This paper presents an approach for designing robust tracking controller for lumped mass model of a vibrating link (VL) robot manipulator. The control methodology is intuitively simple since it is based on concepts which are familiar to most control engineers. The approach is illustrated by developing a robust tracking controller that achieves global uniform ultimate boundedness (GUUB) stability of the link tracking error in spite of model uncertainty and the additional link dynamics.

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来源期刊

The 24th Southeastern Symposium on and The 3rd Annual Symposium on Communications, Signal Processing Expert Systems, and ASIC VLSI Design System Theory

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