Adaptive control of robot manipulators via velocity estimated feedback
Adaptive control of robot manipulators via velocity estimated feedback
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DOI：
10.1109/robot.1991.131545
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发表时间：
1991-04
期刊：
影响因子：
--
通讯作者：
C. C. Wit-C.;N. Fixot
中科院分区：
文献类型：
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作者：
C. C. Wit-C.;N. Fixot
提出了一种基于状态空间反馈的鲁棒控制器设计方法。假设机器人模型参数未知，速度测量不可用。状态观测和参数自适应同时进行。在切换面不变性的降阶流形上设计了自适应律、观测器增益和控制律。相对于作者以前的工作，由该方法得到的闭环系统的渐近稳定性不受特定类型的惯性矩阵变化的限制。另一方面，由于控制律仅依赖于估计的状态和参数向量，因此不包含与不连续成比例的项，因此引入自适应回路也可能是为了减少控制律水平上的抖振
An approach for designing robust controllers via state-space feedback is presented. The robot model parameters are assumed to be unknown and velocity measurements are assumed to be unavailable. State observation and parameter adaptation are performed simultaneously. The adaptation law, the observer gains and the control law are designed on the reduced-order manifold which results from the invariance of the switching surface. With respect to the authors' previous work, the asymptotic stability of the closed-loop system resulting from the approach presented is not conditioned by a particular type of inertia matrix variations. On the other hand, the introduction of an adaptation loop may also be motivated by a reduction of chattering at control law level since the control law only depends on the estimated state and parameter vectors, and hence contains no terms proportional to discontinuities.>