| 引用本文: | 徐成涛,平兆武,何宇乾,黄云志,回家泽,卢俊国.基于自适应控制的机械臂轨迹跟踪与干扰抑制[J].控制理论与应用,2026,43(5):1061~1069.[点击复制] |
| XU Cheng-tao,PING Zhao-wu,HE Yu-qian,HUANG Yun-zhi,HUI Jia-ze,LU Jun-guo.Trajectory tracking and disturbance rejection of robot manipulator by adaptive control[J].Control Theory & Applications,2026,43(5):1061~1069.[点击复制] |
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| 基于自适应控制的机械臂轨迹跟踪与干扰抑制 |
| Trajectory tracking and disturbance rejection of robot manipulator by adaptive control |
| 摘要点击 453 全文点击 34 投稿时间：2024-03-17 修订日期：2025-11-10 |
| 查看全文 查看/发表评论 下载PDF阅读器 HTML |
| DOI编号 10.7641/CTA.2025.40156 |
| 2026,43(5):1061-1069 |
| 中文关键词 机械臂 轨迹跟踪 外部干扰 内模 自适应控制 |
| 英文关键词 robot manipulator trajectory tracking external disturbance internal model adaptive control |
| 基金项目 国家自然科学基金项目(62273127, 62073217), 中央高校基本科研业务费项目(JZ2025HGTG0293), 江淮前沿技术协同创新中心追梦基金课题 (2023–ZM01J006)资助. |
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| 中文摘要 |
| 机械臂作为一个高度耦合的多输入多输出非线性系统, 其控制性能很容易受到外部干扰和不确定参数的
影响. 为了实现在运动学和动力学参数未知时机械臂在任务空间的轨迹跟踪和干扰抑制, 本文提出了一种基于内模
的自适应控制策略. 首先, 构造一个内模来补偿含未知频率的外部干扰, 并将机械臂的轨迹跟踪问题转化为一个鲁
棒镇定问题; 然后, 设计一个自适应控制器来解决这个鲁棒镇定问题; 最后, 通过仿真验证了所提控制方法的有效
性. |
| 英文摘要 |
| As a highly coupled multi-input multi-output nonlinear system, the control performance of robot manipulator
is easily affected by external disturbances and uncertain parameters. In order to achieve trajectory tracking and disturbance
rejection of the robot manipulator in the task space when the kinematic and dynamic parameters are unknown, an adaptive
control strategy based on internal model is proposed in this paper. Firstly, an internal model is constructed to compensate the
external disturbances with unknown frequencies, and the trajectory tracking problem of the robot manipulator is converted
into a robust stabilization problem. Then, an adaptive controller is designed to solve the robust stabilization problem.
Finally, the effectiveness of the proposed control method is verified by simulation. |
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