无刷直流电动机驱动的刚性连杆电动机器人的自适应控制

Proceedings of 1994 33rd IEEE Conference on Decision and Control Pub Date : 1994-12-14 DOI:10.1109/CDC.1994.411145

M. Bridges, D. Dawson

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引用次数: 24

摘要

扩展了Bridges、Dawson和Gao(1993)以及Hu和Dawson(1993)的工作，设计了一种用于刚性连杆电驱动(RLED)机器人机械手的自适应控制器，特别是由无刷直流(BLDC)电机驱动。特别地，第二篇论文中提出的自适应控制器专门用于处理刚性连杆机器人的多连杆动力学，而不是简单的惯性负载。此外，在第一篇论文中使用的有刷直流电动机的线性电动力学被无刷直流电动机的多输入非线性动力学所取代。结果表明，尽管整个机电模型中存在参数不确定性，但该自适应控制器仍能保证连杆位置跟踪误差的全局渐近收敛

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Adaptive control of rigid-link electrically-driven robots actuated with brushless DC motors

Extends the work of Bridges, Dawson and Gao (1993) and Hu and Dawson (1993) to design an adaptive controller for rigid-link electrically-driven (RLED) robot manipulators specifically actuated with brushless direct current (BLDC) motors. In particular the adaptive controller presented in the second paper is tailored to handle the multi-link dynamics of a rigid-link robot as opposed to a simple inertial load. Furthermore, the linear electrical dynamics of brushed DC motors used in the development of the first paper, are replaced with the multiple input nonlinear dynamics of BLDC motors. The result is an adaptive controller that guarantees globally asymptotic convergence of the link position tracking error in spite of parametric uncertainty throughout the entire electro-mechanical model.<>

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Proceedings of 1994 33rd IEEE Conference on Decision and Control

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