机器人多级自适应控制器鲁棒性分析

本文给出了机器人关节系统多级自适应控制器的鲁棒性分析.分析表明机器人多级自适应控制系统即使子系统间存在相互关联项和子系统存在未建模特性.采用σ-修正法也能保证系统的输出有界.

The paper analyses robustness of the multi-grade adaptive controller of a robot.the controller is just thesame as that considered by Han(1992),but contains interconnected terms and unmodeled characteristics.The σ-modification is introduced to stabilize the system and prevent the output from infiniteness.