自适应非线性跟踪方法在运动跟踪中的应用

2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI:10.1109/NIR50484.2020.9290163

V. Gromov, Aleksei V. Meshkov, A. Pyrkin

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引用次数: 0

摘要

研究了由具有参数不确定性的系外系统引起的非线性参考信号对系统输出的调节问题。提出了非线性轨迹的控制律，并设计了自适应内模型。通过实验证明了该算法的有效性。给出了实验结果。

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Adaptive Nonlinear Tracking Approach for Motion Tracking Applications

The problem of output regulation for systems affected by nonlinear reference signal, which is caused by exosystem with parametric uncertainties, is addressed. The control law for a nonlinear trajectory is proposed with the design of an adaptive internal model. The efficiency of the proposed algorithm was proved by experiments using the setup that includes an articulated robot. The experimental results are presented.

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来源期刊

2020 International Conference Nonlinearity, Information and Robotics (NIR)

自引率

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