摘要
将机械臂系统用拉格朗日方程描述,构造主-从拉格朗日系统.所考虑的系统允许存在参数失配,设计间歇控制使得具有参数失配的机械臂系统达到实用同步.同时基于李雅普诺夫函数的稳定性理论得到代数型同步判据.最后以3自由度移动机器人为例子,验证控制策略的有效可行性.
In this paper, the robot manipulator is described by Lagrangian equation, and the master-slave Lagrangian systems are constructed. The systems with parameter mismatches are considered, and the design of intermittent control enables the robot manipulator system with parameter mismatch to achieved practical synchronization. Some synchronization criteria are derived based on Lyapunov stability theory. Subsequently, an example of 3-DOF mobile robot is presented, which demonstrates the effectiveness and feasible of the proposed control strategy.
作者
李欣
马米花
LI Xin;MA Mi-hua(School of Mathematics and Statistics, Minnan Normal University, Zhangzhou Fujian 363000, China)
出处
《佳木斯大学学报（自然科学版）》
CAS
2019年第5期831-836,共6页
Journal of Jiamusi University：Natural Science Edition
基金
国家自然科学基金(61603174)
福建省自然科学基金(2017J05012)
关键词
机械臂系统
拉格朗日方程
参数失配
间歇控制
实用同步
manipulator system
Lagrangian systems
parameter mismatch
intermittent control
practical synchronization
