For the practical engineering problems of bounded state,parameter perturbation and unpredictable tracking time in manipulator trajectory tracking control,a fixed time convergent double loop adaptive tracking control algorithm was proposed.The algorithm can predicted the trajectory tracking time of the manipulator ac-cording to the control parameters,ensured that the trajectory tracking error changed within the preset bounded range,and had strong robustness to the internal parameter perturbation and external interference of the system.Numerical simulation results showed that the algorithm had simple structure,good control effect and good engi-neering application prospect.
关键词
机器人/机械臂/自适应控制/双环跟踪控制/固定时间控制
Key words
robot/manipulator/adaptive control/double loop tracking control/fixed time control
维普
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