典型文献
Research on the Trajectory Tracking Control of a 6-DOF Manipulator Based on Fully-Actuated System Models
文献摘要：
The multi-degree of freedom(muti-DOF)manipulator system is a complex control system with the strong coupling feature and high nonlinearity.In this paper,trajectory tracking control of a six-degree of freedom(6-DOF)manipulator based on fully-actuated system models and a direct parametric method is investigated.The fully-actuated system model of the 6-DOF manipulator is established by using the Denavit Hartenberg(DH)notation and Euler-Lagrange dynamics.A disturbance observer is constructed to solve the nonlinear uncertainties such as unmodeled dynamics and external disturbances.Then,a controller is designed using the direct parametric method to make the 6-DOF manipulator reach the desired position with high accuracy.After that,a switching control strategy is developed to suppress the peak value belonging to the controller.Simulation results reveal the effect of the proposed control approach.
文献关键词：
中图分类号：
作者姓名：
SUN Hao;HUANG Ling;HE Liang
作者机构：
School of Automation,Harbin University of Science and Technology,Harbin 150080,China;School of Software,Northwestern Polytechnical University,Xi'an 710072,China
文献出处：
引用格式：
[1]SUN Hao;HUANG Ling;HE Liang-.Research on the Trajectory Tracking Control of a 6-DOF Manipulator Based on Fully-Actuated System Models)[J].系统科学与复杂性学报（英文版）,2022(02):641-659
A类：
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B类：
Research,Trajectory,Tracking,Control,DOF,Manipulator,Based,Fully,Actuated,System,Models,multi,degree,freedom,muti,manipulator,system,complex,strong,coupling,feature,high,nonlinearity,In,this,paper,trajectory,tracking,six,fully,actuated,models,direct,parametric,method,investigated,established,by,using,Denavit,Hartenberg,DH,Euler,Lagrange,dynamics,observer,constructed,solve,uncertainties,such,unmodeled,external,disturbances,Then,controller,designed,make,reach,desired,position,accuracy,After,that,switching,strategy,developed,suppress,peak,value,belonging,Simulation,results,reveal,effect,proposed,approach
AB值：
0.604423
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