虑一类非线性机械臂系统的跟踪控制. 该系统包含未知的定常参数和多个未知的周期时变参数.提出了一种新的自适应跟踪控制方法, 该方法能保证闭环系统的所有信号有界,且跟踪误差趋于零.

The paper considers the problem of adaptive tracking control of a class of manipulators. The system contains multiple periodic disturbances. The periods of the periodic disturbances are known and are different. A new method for asymptotic tracking control is presented, which can guarantee that all signals in the closed loop system are bounded and the tracking error converges to zero.