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针对能够描述机械手动态特性的一类特殊仿射非线性系统 ,提出了一种非线性连续预测控制器。其预测模型通过对系统状态泰勒级数展开并做适当的截尾处理获得。此外 ,证明了非线性连续预测控制器的渐近跟踪特性 ,并给出了一种改进的预测控制方案。将非线性连续预测控制器应用于二自由度机械手轨迹跟踪控制。仿真结果证明了该控制器的有效性
For a class of special affine nonlinear systems that can describe the dynamics of manipulators, a nonlinear continuous predictive controller is proposed. The predictive model is obtained by expanding the system state Taylor series and doing the appropriate truncation. In addition, the asymptotic tracking of nonlinear continuous predictive controller is proved and an improved predictive control scheme is given. The nonlinear continuous predictive controller is applied to two degree-of-freedom manipulator trajectory tracking control. Simulation results show the effectiveness of this controller