【摘要】 针对能够描述机械手动态特性的一类特殊仿射非线性系统 ,提出了一种非线性连续预测控制器。其预测模型通过对系统状态泰勒级数展开并做适当的截尾处理获得。此外 ,证明了非线性连续预测控制器的渐近跟踪特性 ,并给出了一种改进的预测控制方案。将非线性连续预测控制器应用于二自由度机械手轨迹跟踪控制。仿真结果证明了该控制器的有效性更多还原

【Abstract】 This paper proposes a class of nonlinear continuous predictive controller (NCPC) for a class of special affine nonlinear system which can describe the dynamic behavior of robot manipulators. The predictive model is acquired by truncating appropriately the Taylor series expansion for system state. In addition, the paper proves the globally asymptotic tracking performance of NCPC, and gives a modified predictive control scheme. Applying the controller to trajectory tracking control of robot manipulators with two-degree-of-freedom, simulation result shows that the controller is effective.更多还原