Unfalsified direct adaptive control of a two-link robot arm
Unfalsified direct adaptive control of a two-link robot arm
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二连杆机器人手臂的真实直接自适应控制
DOI：
10.1109/cca.1999.806734
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发表时间：
1999
期刊：
影响因子：
--
通讯作者：
M. Safonov
中科院分区：
文献类型：
--
作者：
T. Tsao;M. Safonov
本文描述了非证伪控制理论在非线性机器人操纵器自适应控制器设计中的应用。采用非线性“计算扭矩”控制结构。使用线性编程技术实时自适应调整代表未知质量、惯性和其他动态系数的四个参数，以最佳地满足控制律反证伪条件。仿真表明，与传统的连续参数更新规则相比，该方法产生的参数调整明显更加精确和快速，特别是当机械臂受到质量或负载属性的突然随机变化时。
This paper describes an application of unfalsified control theory to the design of an adaptive controller for a nonlinear robot manipulator. A nonlinear "computed torque" control structure is employed. Four parameters representing unknown masses, inertias and other dynamical coefficients are adaptively adjusted in real-time using an linear programming technique to optimally satisfy control-law unfalsification condition. Simulations show that the method yields significantly more precise and rapid parameter adjustments than conventional continuous parameter update rules, especially when the manipulator arm is subject to sudden random changes in mass or load properties.