摘要
机械手的动力学方程依赖于广义位置坐标q及其一、二阶导数、广义力矩及未知参数θ_(?)对q及(?)的量测一般带有误差.本文在估计θ的同时给出控制律,使平均跟踪误差和量测误差为同一数量级。
The dynamics of the robot arm depends on the generalized coordinate q and its first and second derivatives, on the generalized moment and on the unknown parameter θ as well. The measurements of q and (?) are corrupted with noise. The control purpose consists in forcing q to follow a desired trajectory q_d. This paper provides an adaptive control based on parameter estimation for θ and shows that the averaged tracking error is of the same order as the measurement error.
出处
《自动化学报》
EI
CSCD
北大核心
1992年第3期358-361,共4页
Acta Automatica Sinica
基金
863计划512-03-04号合同和国家自然科学基金
关键词
机械手
适应控制
量测误差
robot arm
adaptive control
measurement error.
