Modelling and adaptive tracking control for flexible joint robots with random noises
Modelling and adaptive tracking control for flexible joint robots with random noises
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DOI：
10.1080/00207179.2014.929746
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发表时间：
2014-06
影响因子：
2.1
通讯作者：
Zhenguo Liu;Yuqiang Wu
中科院分区：
文献类型：
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作者：
Zhenguo Liu;Yuqiang Wu
本文研究了受随机干扰的柔性关节机器人的建模和自适应跟踪控制问题。通过合理地引入随机噪声，建立了随机柔性关节机器人模型。在较弱的假设条件下，利用自适应动态面控制技术构造了一种新的控制器。证明了通过选择适当的设计参数，可以使跟踪误差的均方任意小。仿真中提供的力学模型，以显示所提出的理论的有效性。
This paper investigates modelling and adaptive tracking control problems for flexible joint robots subjected to random disturbances. A stochastic flexible joint robot model is given by introducing random noises reasonably. Under some weaker assumptions, a new controller is constructed by exploiting adaptive dynamic surface control technique. It is proved that the mean square of the tracking error can be made arbitrarily small by choosing appropriate design parameters. A mechanics model is provided in the simulation to show the effectiveness of the presented theory.