离散控制Matlab代码-2dof-parallelrob:MATLAB仿真将鲁棒控制应用于2自由度并联机构

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离散控制Matlab代码二自由度并联机构的鲁棒控制 概述 该项目引用了由大学自动化与控制实验室的Isabella Stevani在迭戈·科隆教授的指导下,由Isabella Stevani撰写的题为“结合反馈线性化和H-无穷大设计的2-DOF并联机构的鲁棒控制”的硕士论文。圣保罗-LAC / USP。 此处提供的代码中使用的控制和建模方法的更多详细信息,可在Research Gate很快获得的硕士论文资格文本中找到。 该项目的目的是将反馈线性化和H无限设计相结合,以实现鲁棒的控制设计,并具有简单的调整功能,并适用于广泛的非线性系统,特别是具有并行架构的机器人机构。 即使在机械模型中存在不确定参数的情况下,有针对性的鲁棒控制设计也必须使系统稳定。 -项目状态:有效 代码 该代码是在MATLAB 2015a中开发的,因此早期版本可能不兼容。 指示 克隆存储库: $ git clone https://github.com/isabella-stevani/2dof-parallelrob.git 在MATLAB中,将克隆的存储库设为当前文件夹: >> cd .. \2 dof-parall

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