文章基本信息

标题：Robust composite nonlinear feedback control for uncertain robot manipulators
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作者：Yuan Jiang ; Ke Lu ; Chenglong Gong 等
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2020
卷号：17
期号：2
页码：1-9
DOI：10.1177/1729881420914805
出版社：SAGE Publications
摘要：On the basis of the classical computed torque control method, a new composite nonlinear feedback design method for robot manipulators with uncertainty is presented. The resulting controller consists of the composite nonlinear feedback control and robust control. The core is to use the robust control for online approximation of the system’s uncertainty as a compensation term for the composite nonlinear feedback controller. The design method of the new controller is given, and the convergence of the closed-loop system is proved. The simulation results show that the proposed scheme can make the uncertain robot system have strong robustness and anti-interference ability..
关键词：Robot ; uncertainty ; composite nonlinear feedback control ; robust control ; system convergence