广义输入有界机器人轨迹跟踪控制器

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广义输入有界机器人轨迹跟踪控制器(中文3700字,英文3300字)
摘要:以广义控制器稳定性理论为基础,提出了奇异摄动系统,以处理机器人驱动器在输入有界轨迹跟踪控制问题。误差增益矩阵饱和函数应用于转矩控制律,保证了输入上的扭矩在任何特定的约束范围有限。通过适当的设置误差的增益矩阵,其跟踪性能得到改善。此外,生成一个信号从线性过滤器来代替实际的速度误差,消除了对速度测量的需要。最后,为了成效广义控制器,一个新的控制器误差增益系数反正切饱和函数的设计。对比实验表明,该控制器能严格保证投入的情况下,扭矩与约束非零初始跟踪误差,并给出了一个比其他控制器更好的跟踪效果。
关键词:机器人,跟踪控制,奇异摄动,有界输入

附件:(外文资料原文)
A generalized trajectory tracking controller for robot
Abstract:  A generalized controller based on stability theory of singularly perturbed systems is proposed, to deal with the problem of bounded actuator inputs in robot trajectory tracking control. The saturation function with error-gain matrix is applied in the torque control law, which ensures the upper bound of torque inputs in any given limited range. Through appropriately setting the entries of the error-gain matrix, the tracking performance can be improved. Moreover, a pseudo signal is generated from a linear filter to substitute for the actual velocity error, eliminating the need for velocity measurements. Finally, to verify the effectiveness of the generalized controller, a new saturated controller with error-gain-contained arc tangent function is designed. Comparison experiments show that the proposed controller can strictly guarantee the bound of the torque inputs in situations with non-zero initial tracking errors, and gives a better tracking result than other controllers.
Key words: Robot, Tracking control, Singular perturbation, Bounded input