| 引用本文: | 刘英卓，王越超，席 宁.类Lyapunov理论在类人形机器人任务空间内跟踪的应用[J].控制理论与应用,2004,21(3):351~356.[点击复制] |
| LIU Ying-zhuo, WANG Yue-chao, XI Ning.Application of Lyapunov-like methodology for a humanoid robot tracking in task space[J].Control Theory and Technology,2004,21(3):351~356.[点击复制] |
|
| 类Lyapunov理论在类人形机器人任务空间内跟踪的应用 |
| Application of Lyapunov-like methodology for a humanoid robot tracking in task space |
| 摘要点击 1042 全文点击 1233 投稿时间：2003-03-19 修订日期：2003-10-13 |
| 查看全文 查看/发表评论 下载PDF阅读器 |
| DOI编号 10.7641/j.issn.1000-8152.2004.3.006 |
| 2004,21(3):351-356 |
| 中文关键词 类人形机器人 自适应控制 神经网络 |
| 英文关键词 humanoid robot adaptive control neural network |
| 基金项目 国家"十五""863"资助项目(2001AA422170). |
|
| 中文摘要 |
| 考虑了类人形机器人的各种不确定因素,提出了其手臂控制的新方法.基于类Lyapunov方法,设计出具有鲁棒性功能的任务空间控制器.该方法得到的控制器不但在有限确定时间内达到稳定跟踪,而且不需要雅可比矩阵求逆,对一定类型的外部干扰具有鲁棒性功能.最后通过数值仿真显示了所得结果的有效性及其应用方法. |
| 英文摘要 |
| A new method for the arm control of a humanoid robot is proposed under the consideration of many uncertain factors.Based on Lyapunov-like methodology,controllers in task space were constructed which had a robust effect.Being different from common results,the obtained controllers not only guarantee tracking stability within a finite prescribed time,but also need not solve the inverse of Jacobian matrix and achieve robustness with respect to a class of bounded disturbance.Finally,numerical simulation results were given to illustrate the proposed methods. |