柔性机械臂基于观测的逆动力学轨迹跟踪控制

本文探讨了稳定逆动力学与基于观测的状态误差反馈镇定器集成实现柔性机械臂末端轨迹跟踪的控制策略．基于观测器可以充分利用由稳定逆动力学生成的理想状态轨迹信息，实现全状态误差的反馈镇定以消除末端轨迹跟踪的扰动误差。

This paper explores the control scheme of integrating stable inverse dynamics with observer  based state error feedback stabilizing controller for achieving tip trajectory tracking control of a flexible manipulator. Observer  based scheme allows for making full use of the desired state trajectory generated by stable inverse dynamics, thus  the full state error feedback stabilization can be achieved to alleviate the tip trajectory tracking errors due to noise disturbance.