ROBUST ADAPTIVE CONTROL FOR ROBOT MANIPULATORS TRAJECTORY TRACKING BASED ON ITERATIVE LEARNING OBSERVER WITH TIME-DELAY

被引：1
|
作者：
Fu Xingjian [1 ]
He Jiahui [1 ]
机构：
[1] Beijing Informat Sci & Technol Univ, Sch Automat, 12 Xiaoying East Rd, Beijing 100192, Peoples R China
来源：
COMPTES RENDUS DE L ACADEMIE BULGARE DES SCIENCES | 2022年 / 75卷 / 06期
基金：
中国国家自然科学基金;
关键词：
iterative learning; observer; robust adaptive control; robot manipulators;
D O I：
10.7546/CRABS.2022.06.10
中图分类号：
O [数理科学和化学]; P [天文学、地球科学]; Q [生物科学]; N [自然科学总论];
学科分类号：
07 ; 0710 ; 09 ;
摘要：
For the trajectory tracking of the robot manipulators, the robust adaptive control based on iterative learning observer is designed. The robot manipulators model is given, and an iterable dynamic equation is obtained by linearizing the model. An iterative learning observer is designed, so that the output state of the observer can converge to the actual state of the system and the convergence analysis of the observer is also given. Based on Lyapunov stability theory, the robust adaptive controller is given to ensure that the trajectory tracking error of the robot manipulators gradually approaches zero. Finally, the double joint robot manipulators systems are simulated, and the results verify the effectiveness of the method.
引用
收藏
页码：861 / 872
页数：12
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