Optimized Model Reference Adaptive Motion Control of Robot Arms with Finite Time Tracking

摘要：

In this paper, we study motion control of general n degrees of freedom (DOFs) rigid robot arms. Aiming at shaping the controlled closed-loop dynamics to be of minimized motion tracking errors and as well as angular accelerations, we employ the linear quadratic regulation (LQR) optimization technique to obtain an optimal reference model. Adaptive control is then developed to ensure that the reference model can be matched in finite time, in the presence of various uncertainties. The stability and optimal tracking performance have been rigorously established by theoretic analysis.

关键词： LQR optimization model reference control variable structure

作者: Chenguang Yang Hongbin Ma Mengyin Fu Alex M. Smith

作者单位: School of Computing and Mathematics, University of Plymouth, Plymouth PL4 8AA, United Kingdom Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing Institution of Techno

会议类型: 国际会议

会议名称: The 31st Chinese Control Conference(第三十一届中国控制会议)

会议地点: 合肥

会议语种:英文

页码: 4356-4360

在线出版日期: 2012-07-01（万方平台首次上网日期，不代表论文的发表时间）