具有执行器饱和的欧拉-拉格朗日系统抗上卷自适应跟踪控制实验研究

2013 6th IEEE Conference on Robotics, Automation and Mechatronics (RAM) Pub Date : 2013-11-01 DOI:10.1109/RAM.2013.6758573

M. Kanamori

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引用次数: 2

摘要

在双连杆机械臂上进行了实验，验证了先前提出的抗缠绕自适应律。结果表明，所提出的反卷动自适应律很好地抑制了控制输入的卷动，有效地提高了过渡控制性能。

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Experimental study of anti-windup adaptive tracking control for Euler-Lagrange systems with actuator saturation

The anti-windup adaptive law that has been previously proposed is verified by experiments on a two-link robot arm. It is confirmed that windup of the control input is restrained very well by the proposed anti-windup adaptive law and the transitional control performance is improved effectively.

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来源期刊

2013 6th IEEE Conference on Robotics, Automation and Mechatronics (RAM)

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