The robust trajectory tracking strategies for a class of interconnected robot systems with uncertainties were investigated. Based on the continuous known bounded functions of uncertainties and Lyapunov method, the decentralized robust controllers were proposed. The controllers can guarantee that the position vectors and velocity vectors of interconnected robot systems can track the given trajectory asymptotically. The simulation results verify the method.
郑柏超,王银河.一类互联机器人系统的鲁棒分散跟踪控制[J].动力学与控制学报,2008,6(1):5~8; Zheng Bochao, Wang Yinghe. Decentralized robust tracking control for a class of interconnected robot systems[J]. Journal of Dynamics and Control,2008,6(1):5-8.
