不確定性機(jī)器人系統(tǒng)高精度軌跡跟蹤.pdf

1、代號(hào)分類號(hào)面10701熙學(xué)號(hào)密級(jí)普它手辮敬磊訾碩士學(xué)位論文題(中、英文)目丕確定掛擔(dān)L器人系統(tǒng)高精度孰跡跟路TrajectoryTrackingofUncertainRobotManipulatorswithHighPrecise作者姓名張立科指導(dǎo)教師姓名、職務(wù)蘇玉鑫教授_學(xué)科門類工學(xué)學(xué)科、專業(yè)機(jī)械電子工程提交論文日期三QQ七年=月ABSTRACTInthisdissertationthesystemofuncertainrobotic

2、manipulatorswithentiredynamicmodel，namely，theroboticsystem晰廿1uncertaintiesisregardedascontrolledplantandthevariouscontr01schemesbasedonnonlinearPID(PD)，adaptivecontrolandrobustcompensationaredevelopedindetailThestability

3、oftheresultingsystemwithvariousproposedschemeisanalyzed，andnumericalsimulationperformedonatwodegree—offreedommanipulatordemonstratetheeffectivenessoftheproposedapproachesThedissertationgivesabriefdescriptionaboutthedevel

4、opingsituationandcontrolmethodfirstly，andthenthemodelsofrobotandmathematicsknowledgeareintroducedindetailSubsequentlynonlinearP1Dslidingvariablestructurecontrolisproposed；thencontrolstrategyvnthcompensationcontrolstructu

5、rewhichisbasedonnonlinearPDfeedforward，isproposedOverallideaisthattheentireeffectoftheunknowiluncertaintiesoftheroboticmanipulatorsisreducedbyintroducingsomefeedforwardterms；thetopboundaryrestrictionfunctionoftheentireef

6、fectoftheunknownuncertaintiesoftheroboticmanipulatorsissimplified，robustcontrolstrategiesareutilizedtosolvetheentireeriectoftheunknownuncertaintiesoftheroboticmanipulatorsAtlast，twomodel—freetrackingcontrolschemesareprop

7、osed，namely，decentralizedslidingmodecontrolandrobustadaptivenonlinearPDcontr01TheanalysisshowsthesemiglobalasymptoticstabilityandthenumericalsimulationdemonstratestheeffectivenessoftheproposedapproachesInthelastChapter，t