【摘要】 文章基于标称模型 ,在反馈力矩补偿控制的基础上 ,考虑在实际机器人系统存在不确定性 (外部扰动及摩擦力 )时 ,基于终值有界定理 ,运用连续状态反馈的方法设计出一个新的机器人轨迹跟踪控制器 .数值仿真表明 ,在初始误差较大的情况下 ,该轨迹跟踪控制器能够保证跟踪误差的终值有界性 .更多还原

【Abstract】 Based on the feedback torque compensation method, bounded terminal val ue theorem and continues condition feedback method, a novel trajectory-tracing c ontroller is designed to control the nominal model of robotic system together wi th some uncertainty like outer disturbances and friction. Numerical simulations showed that the mentioned controller is able to constrain the terminal value of tracing error to be free of divergence, even on the condition of large initial e rror.更多还原