【摘要】 考虑一类非线性机械臂系统的跟踪控制.该系统包含未知的定常参数和多个未知的周期时变参数.提出了一种新的自适应跟踪控制方法,该方法能保证闭环系统的所有信号有界,且跟踪误差趋于零.更多还原

【Abstract】 The paper considers the problem of adaptive tracking control of a class of manipulators.The system contains multiple periodic disturbances.The periods of the periodic disturbances are known and are different.A new method for asymptotic tracking control is presented,which can guarantee that all signals in the closed loop system are bounded and the tracking error converges to zero.更多还原