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| 1 | 基于自适应滑模的移动机械臂跟踪控制显示文摘针对非完整移动机械臂的轨迹跟踪控制问题,提出一种系统参数在线估计的自适应滑模控制策略。该方法将移动机械臂作为一个完整系统考虑,首先根据系统的动力学方程设计了滑模控制器;然后设计一种自适应律对系统中的不确定参数进行估计。与传统滑模控制相比,该算法不需要系统参数的上界已知。最后仿真实例说明了所提方法的有效性和优越性。 | 董玉明 俞立 朱俊威 | 2019 | 控制工程2019，26，1： | 23 |
| 2 | Application of a Robust Model Reference Adaptive Control Algorithm to a Nonlinear Automotive Actuator显示文摘Model reference adaptive control is a viable control method to impose the demanded dynamics on plants whose parameters are affected by large uncertainty. In this paper, we show by means of experiments that robust adaptive methods can effectively face nonlinearities that are common to many automotive electromechanical devices. We consider here, as a representative case study, the control of a strongly nonlinear automotive actuator. The experimental results confirm the effectiveness of the method to cope with unmodeled nonlinear terms and unknown parameters. In addition, the engineering performance indexes computed on experimental data clearly show that the robust adaptive strategy provides better performance compared with those given by a classical model-based control solution with fixed gains. | Alessandro di Gaeta Umberto Montanaro | 2014 | International Journal of Automation and computing2014，11，4： | 5 |
| 3 | 用于冗余度机械臂避障神经网络控制器显示文摘目前,对机械臂避障控制器研究方法有多种,经分析现有的PD控制器追踪误差较大,效果较差.对此,提出了神经网络控制器并对其运动过程中避障追踪误差进行仿真验证.构建了机械臂转动关节避障的动力学模型,在延伸的笛卡尔空间中定义了未知函数.使用多层感知器神经网络逼近方法,分析了神经元自适应控制器系统的闭环稳定性,对系统的闭环稳定性进行了证明,得到了神经参数的自适应法则.结合具体实例,将机械臂避障神经网络控制器进行仿真,结果表明,机械臂末端执行器在移动障碍物的环境下具有优良的轨迹追踪效果. | 刘善春 李鲤 | 2017 | 中国工程机械学报2017，15，3： | 1 |
| 4 | A Robust Tracking Controller for Electrically Driven Robot Manipulators: Stability Analysis and Experiment显示文摘In this paper, a robust controller for electrically driven robotic systems is developed. The controller is designed in a backstepping manner. The main features of the controller are: 1) Control strategy is developed at the voltage level and can deal with both mechanical and electrical uncertainties. 2) The proposed control law removes the restriction of previous robust methods on the upper bound of system uncertainties. 3) It also benefits from global asymptotic stability in the Lyapunov sense. It is worth to mention that the proposed controller can be utilized for constrained and nonconstrained robotic systems. The effectiveness of the proposed controller is verified by simulations for a two link robot manipulator and a four-bar linkage. In addition to simulation results,experimental results on a two link serial manipulator are included to demonstrate the performance of the proposed controller in tracking a given trajectory. | Mohamadreza Homayounzade Mehdi Keshmiri Mostafa Ghobadi | 2015 | International Journal of Automation and computing2015，12，1： | 0 |
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