输入力矩受限的机器人鲁棒自适应控制外文文献翻译（原文+译文）.docVIP

外文文献原文 Limited torque input Robust Adaptive Tracking Control of Robot Abstract Based on input constraints, a novel robust-adaptive tracking control algorithm is proposed for robot manipulators since stability if the standard adaptive control system is problematic when some disturbance exists. The proposed controller stabilizes the system with some disturbance and guarantees asymptotic stability in the case if non-disturbance. Robust-adaptive algorithm can be received as the extension of the conventional adaptive scheme. The estimated parameters enter the controller non-linearly and the resulting closed-loop system. The algorithm provides further flexibility fir adaptive controller design and better transient performance and robustness to disturbance and error of estimated parameter-region especially. Simulation results demonstrate it effectiveness. Keywords: Adaptive control; robot manipulator; parametric uncertainties; robust-adaptive; So far, almost all of the controller design is based on joint drive to produce any torque on the basis of; and is subject to the physical conditions, the output of the drive torque is limited, so the controller may lead to the control failure or deterioration of the quality control.Therefore the controller design must take into account the limited joint drive dynamic capability.  For example, the operation of the industry to help the robot, some parameters are uncertain or unknown, adaptive control is based on the estimated parameters to deal with such issues one of the main control strategy, using the robot dynamic equations of linear parametric nature, through an integral operator estimates the robot parameters. As integral part of the role in the continued interference conditions, stability control system is not easy, so appropriate to limit or adjust the integral part of the role of the adaptive system to achieve an effective means of stabilization. Son ah estimated parameters can limit the extent required, thereby increasing