基于奇异系统的约束机器人自适应控制

Proceedings of the 28th IEEE Conference on Decision and Control, Pub Date : 1989-12-13 DOI:10.1109/CDC.1989.70657

Ricardo Carelli, Rafael Kelly

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引用次数: 34

摘要

针对具有不确定动态模型参数的受限机器人，提出了一种自适应控制器。根据提出的理论框架进行了控制器设计。结果表明，在得到零稳态运动误差和有界力误差的情况下，系统的全局跟踪得到了验证。给出了一些鲁棒性结果，并通过仿真实例说明了该自适应控制器的性能。

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Adaptive control of constrained robots modeled by singular systems

An adaptive controller is presented for constrained robots with uncertain dynamic model parameters. The controller design has been made following a proposed theoretical framework. It is shown that global tracking is verified in the sense that zero steady-state motion error and bounded force error are obtained. Some robustness results are presented, and a simulation example is given to illustrate the performance of the adaptive controller.<>

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Proceedings of the 28th IEEE Conference on Decision and Control,

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