机械臂系统的鲁棒控制

Proceedings of IEEE International Conference on Control and Applications Pub Date : 1993-09-13 DOI:10.1109/CCA.1993.348242

Hanlong Yang

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引用次数: 0

摘要

讨论了机械臂系统的鲁棒控制问题。设计过程可以看作是一种改进的计算扭矩法。通过引入滑模观测器，构造了使误差动态一致最终有界的鲁棒控制器。该方案可应用于具有未知但有界载荷和扰动的n-连杆机械臂的控制。对一种双连杆机械臂进行了仿真。

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On robust control of robotic manipulator systems

This paper discusses the problem of robust control in robotic manipulator systems. The designing process can be viewed as a modified computed torque method. By introducing a sliding mode observer, we construct a robust controller which makes the error dynamics uniformly ultimately bounded. The scheme can be applied to the control of n-link robot arm with unknown but bounded payload and disturbance. Simulation of a 2-link robot arm is done.<>

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Proceedings of IEEE International Conference on Control and Applications

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