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首页> 外文会议>CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators >Decentralized Adaptive Partitioned Approximation Control of Robotic Manipulators
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Decentralized Adaptive Partitioned Approximation Control of Robotic Manipulators

机译：机器人操纵器分散的自适应分区近似控制

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摘要

Partitioned approximation control is avoided in most decentralized control algorithms; however, it is essential to design feedforward control with improved tracking accuracy. As a result, this work is focused on decentralized adaptive partitioned approximation control for complex robotic systems using the orthogonal basis functions as strong approximators. In essence, the partitioned approximation technique is intrinsically decentralized with some modifications. The proposed decentralized control law consists of three terms: the partitioned approximation-based feedforward term that is necessary for precise tracking, the high gain-based feedback term, and the adaptive sliding gain-based term for compensation of modeling error. The passivity property is essential to prove the stability of local stability of the individual subsystem with guaranteed global stability. A two-link robot is simulated to verify the effectiveness of the proposed technique.
机译：在大多数分散的控制算法中避免了分区近似控制;但是，必须设计提高跟踪精度的前馈控制。结果，该工作专注于使用正交基函数作为强近似器的复杂机器人系统的分散式自适应分区近似控制。从本质上讲，分区近似技术在本质上分散，具有一些修改。拟议的分散控制法由三个术语组成：精确跟踪，基于高增益的反馈期和基于自适应滑动增益的术语所必需的基于近似的基于馈电的馈期术语。信徒属性对于证明各个子系统的局部稳定性具有保证的全球稳定性至关重要。模拟双链路机器人以验证所提出的技术的有效性。

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