机械臂智能变结构控制器

Proceedings of IEEE International Conference on Intelligent Engineering Systems Pub Date : 1997-09-15 DOI:10.1109/INES.1997.632395

M. Corradini, T. Leo, E. Canelli

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引用次数: 0

摘要

本文提出了一种将MIMO变结构控制器与神经网络状态观测器相结合的新型控制方案。针对SCARA机器人的轨迹控制问题，对所提出的控制系统进行了仿真验证。结果表明，该方法在参数变化和载荷突变情况下均具有良好的性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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An intelligent variable structure controller for robotic arms

In this paper a novel control scheme is presented where a MIMO variable structure controller has been coupled with a neural network state observer. The proposed control system has been tested in simulation on the trajectory control problem for a SCARA robot. The results reported show very satisfactory performance under both parameter variations and the abrupt intervention of a payload.

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Proceedings of IEEE International Conference on Intelligent Engineering Systems

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