| 引用本文: | 高道祥, 薛定宇.基于终端滑模的机械手鲁棒自适应控制[J].控制理论与应用,2006,23(6):913~917.[点击复制] |
| GAO Dao-xiang, XUE Ding-yv.Robust adaptive control of robotic manipulators based on terminal sliding mode[J].Control Theory and Technology,2006,23(6):913~917.[点击复制] |
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| 基于终端滑模的机械手鲁棒自适应控制 |
| Robust adaptive control of robotic manipulators based on terminal sliding mode |
| 摘要点击 1379 全文点击 1193 投稿时间：2005-06-13 修订日期：2006-01-04 |
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| DOI编号 |
| 2006,23(6):913-917 |
| 中文关键词 机械手 鲁棒控制 自适应控制 终端滑模 死区 |
| 英文关键词 robotic manipulator robust control adaptive control terminal sliding mode dead-zone |
| 基金项目 |
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| 中文摘要 |
| 对于不确定的机械手系统, 提出一种鲁棒自适应控制方法, 用自适应控制来估计系统的未知参数, 用终端滑模控制来减少不确定因素的影响, 为了避免因干扰的存在使自适应的估计参数发生漂移, 引入死区自适应控制.仿真表明, 滑模控制不仅抑制了误差, 而且消除了死区自适应算法的局限性, 该算法在取得较好控制效果的同时, 具有很强的鲁棒性. |
| 英文摘要 |
| A robust adaptive controller is proposed for uncertain robotic manipulators. The controller estimates the unknown physical parameters by adaptive law and eliminates the uncertainties by terminal sliding mode control. Dead-zone adaptive control strategy is then employeed to prevent the drift of the estimated parameters.Simulation studies indicate that the sliding mode control can not only reject the disturbances, but also eliminate the drawback of the dead-zone adaptive control. Hence, a satisfactory control performance as well as a strong robustness can be achieved. |
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