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本文针对含有不确定性的液压并联机器人 ,提出了一种鲁棒自适应控制器 ,该控制器能够克服参数变化和负载扰动的不良影响 ,保证系统的鲁棒全局渐近稳定性和良好的跟踪动态性能。计算机仿真结果证明了该控制方案的有效性。
In this paper, a robust adaptive controller is proposed for a hydraulic parallel robot with uncertainties. The controller can overcome the adverse effects of parameter changes and load disturbances, and ensure robust global asymptotic stability and good tracking of the system Dynamic performance. Computer simulation results prove the effectiveness of this control scheme.