【摘要】 考查了一类具有非匹配不确定性的非线性系统的全局稳定性及其在机器人鲁棒控制中的应用.针对机器人系统存在参数不确定性以及外界干扰的情况,利用非线性鲁棒控制理论给出了连续状态反馈控制器,考虑不确定性存在情况下跟踪误差的渐近收敛性.最后给出了两连杆刚性机器人的仿真例子,验证了其控制效果.更多还原

【Abstract】 This paper studies the global stability problem of nonlinear control systems with unmatched normbounded uncertainties as well as the use in robust control of robot manipulator.Under some conditions on robot systems,by using the nonlinear robust control theory,the continuous state feedback controller and consider the global stability of the trajectory tracking errors are given.Finally,simulations of two link rigid robot are given and the control performances are verified.更多还原