【摘要】 针对带一个灵活旋转关节的单接点机械手非线性参数化模型,本文采用一种鲁棒自适应控制策略,仿真结果证明了闭环系统各变量均有界,且通过适当改变控制器参数可以使跟踪均方误差任意小。更多还原

【Abstract】 A robust adaptive control scheme is adapted for a simple one- link robot arm with one revolute elastic joint. The model isnonlinearly parameterized. The simulation results demonstrate that all the variables in the closed- loop system are bounded and themean- square tracking error can be made arbitrarily small by choosing some design constants appropriately.更多还原