【摘要】 针对挖掘机器人动力学系统，提出了一种预设时间实用自适应跟踪控制算法。首先，提出的时变约束函数和复合映射函数使得挖掘机器人关节角度的跟踪误差可以在预设时间内达到设定精度，并且消除了关节角度对初始误差要求的限制，提高了算法在实际工程中的适用性与灵活性。其次，通过自适应方法解决了铲斗尖端在工作时受到外部干扰的问题。最后，通过李雅普诺夫方法证明了挖掘机器人系统的稳定性，并且通过仿真验证了所提控制方法的有效性。更多还原

【Abstract】 A practical prescribed time adaptive control algorithm is proposed for the dynamics of excavators. Firstly, based on the design of a time-varying constraining and compound function, the algorithm ensures that the tracking errors are limited to pre-set bounds in the prescribed time and removes the initial conditiondependent restriction, which is more general and flexible for actual constructions. In addition, an adaptive method is used to complete the robustness against external disturbances while the bucket tip is operating. Finally, the Lyapunov-based method proves the stability of the system and simulations verify the effectiveness of the proposed control algorithm.更多还原