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本文提出了两种有效的机器人自适应控制方法。第一种方法是前馈解耦的自适应控制,在该算法中,首先对非线性系统进行了分析,导出了前馈解耦,自校正调节器反馈的控制方案,并对此提供了理论依据。然后,从Lagrange动力学方程出发,推导出了适用于自适应控制的ARMA模型。利用参数估计技术,最后给出了综合控制规律。
In this paper, two effective methods for robot adaptive control are proposed. The first method is adaptive control of feedforward decoupling. In this algorithm, the nonlinear system is first analyzed, and the control scheme of feedforward decoupling and self-tuning regulator feedback is derived, and the theory is provided in accordance with. Then, based on the Lagrange dynamic equations, an ARMA model suitable for adaptive control is derived. Using the parameter estimation technique, finally, the integrated control law is given.