【摘要】 针对参数未知的机械臂执行器饱和与受到未知扰动问题，提出一种自适应有限时间跟踪控制算法，使机械臂能够以任意小的精度跟踪给定轨迹。引入未知的饱和因子描述执行器饱和，并设计自适应律辨识饱和因子对执行器饱和进行补偿；利用权值自适应的径向基神经网络(Radial Basic Function Neural Networks, RBFNN)逼近机械臂的逆动力学解以及未知扰动；提出一种非奇异快速终端滑模控制器，使机械臂能够在有限时间内跟踪给定轨迹。利用Lyapunov稳定性理论，证明机械臂跟踪控制系统的稳定性，并在Geomagic Touch机械臂模型上进行仿真验证。仿真结果表明，在自适应非奇异快速终端滑模控制器作用下，当执行器饱和，机械臂能够以任意精度跟踪给定轨迹，并对未知扰动具有很好的鲁棒性。更多还原

【Abstract】 Aiming at the unknown parameters of robotic manipulators with actuator saturation and unknown disturbances, an adaptive finite-time tracking control algorithm is proposed to enable the robotic manipulators to track a given trajectory with arbitrarily small precision. The unknown saturation factor was introduced to describe the saturation of the actuator and an adaptive law was designed to identify the saturation factor to compensate for the actuator saturation. The adaptive RBFNN was used to approximate the inverse dynamic solution of the robotic manipulators and unknown disturbance. A nonsingular fast terminal sliding mode controller was proposed to enable the manipulator to track a given trajectory in a finite time. The stability of the manipulator which is controlled by the proposed controller was proved by using the Lyapunov stability theory. The proposed controller was applied to the Geomagic Touch manipulator. The simulation results demonstrate that the proposed controller can let the manipulator with actuator saturation track a given trajectory with arbitrary precision and enhance the real-time control.更多还原