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中文摘要：
针对电机驱动机器人模型,设计了一种鲁棒自适应控制器。首先用动态RBF神经网络逼近机器人动态模型,然后设计了一个带积分器的滤波器,由滤波器系统推导出所需的理想输入电流,再以理想输入电流为目标设计电机控制器并得到最终控制律。基于Lyapunov稳定理论分析了鲁棒自适应控制器的稳定性,给出了稳定性充分条件。实例仿真结果表明,合理的选择控制器参数可使系统具有良好的动态特性和鲁棒稳定性。
英文摘要：
A robust adaptive controller was proposed for electricall-driven robot. Robot model was transformed into dynamic RBF model, and then a filter with integrator was designed to derive the ideal input current law. After that a motor controller was designed to track the ideal input current. Based on the theory of Lyapunov stability, the stability of robust adaptive controller was given with a sufficient condition.. The simulation results show that high dynamic characteristic and more robust stability are obtained by a reasonable choice of controller parameters.
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