机械臂和移动机器人鲁棒速度梯度自适应控制算法

[1991] Proceedings of the 30th IEEE Conference on Decision and Control Pub Date : 1991-12-11 DOI:10.1109/CDC.1991.261122

Alexander L. Fradkov, S. Gusev, I. A. Makarov

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引用次数: 8

摘要

从速度梯度方法的角度出发，研究了许多操作机器人和移动机器人的自适应控制算法。给出了速度梯度算法的一般定理，使研究机器人在扰动和非平稳条件下的闭环动力学成为可能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Robust speed-gradient adaptive control algorithms for manipulators and mobile robots

A number of adaptive control algorithms for manipulating and mobile robots are considered from the viewpoint of the speed-gradient method. A general theorem on speed-gradient algorithms is presented, making it possible to investigate closed-loop robot dynamics under disturbances and nonstationarities.<>

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[1991] Proceedings of the 30th IEEE Conference on Decision and Control

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