CAJ | 학술논문

针对具有参数不确定性的单力臂机械系统,引入模型参考自适应控制思想,研究了一种鲁棒模型参考自适应控制方法;在具有参数不确定性和未知非线性摩擦特性的情况下,使系统的跟踪误差趋于零.通过理论推导和MATLAB仿真,均说明该方法的有效性.
침대구유삼수불학정성적단역비궤계계통,인입모형삼고자괄응공제사상,연구료일충로봉모형삼고자괄응공제방법;재구유삼수불학정성화미지비선성마찰특성적정황하,사계통적근종오차추우령.통과이론추도화MATLAB방진,균설명해방법적유효성.
@@@@Aiming at a one‐DOF link robot system with parametric uncertainty ,this paper introduces the idea of model reference adaptive control ,and studies the method of robust model reference adaptive control .Under conditions of parametric uncertainty and unknown nonlinear friction ,the tracking error of the system goes to zero by use of the control method .After theoretical analysis and MATLAB simulation ,the effectiveness of this method is proved .