摘要:关节机器臂系统是一种非线性、精确、快速、稳定的动态系统，是研究各种控制理论和方法的对象之一。在控制过程中能有效地反映诸如可稳定性、鲁棒性以及跟踪等许多控制中的关键问题。本文以双关节机器臂系统为研究对象，研究其自适应PD控制策略。利用动力学方程建立双关节机器臂的数学模型，得出描述系统的微分方程。基于PD控制和自适应控制设计双关节机器臂的自适应PD控制器，并对其进行了李雅普诺夫稳定性分析。在MATLAB/SIMULINK环境下，进行了PD控制器和自适应PD控制器仿真研究。仿真研究结果表明所设计的自适应PD控制算法对双关节机器臂进行轨迹控制时能够保证系统的稳定，并在系统受到外部扰动和参数发生变化时能够保证系统的稳定性。

关键词：双关节机器臂；比例-微分控制；自适应控制；轨迹跟踪；计算机仿真

Abstract:The dynamic model of the joint robot arm, which is a dynamic system with nonlinearity, exactness, fast reaction and stability, has become an ideal object of control theory and method. Many key matters can be effectively reflected during the control process, such as steady, robustness and track issues .etc. In this paper, we use the two-joint robot arm system as a research object to research its adaptive PD control strategy. We use dynamics equation to build the mathematical model of the two-joint robot arm, and concludes the   Descriptor System of differential equation. Based on PD control and adaptive control, an adaptive PD controller for the two-joint robot arm is designed and its stability is analyzed by Lyapunov theorem of stability. Under MATLAB/SIMULINK environment，we aimed at the simulation study of PD controller or adaptive PD controller. The simulation results show that the designed adaptive PD control algorithm can ensure the system stable when the two-joint robotic arm controls the trajectory or it is subject to external disturbances and parameter changes.

Key words：The two-joint robot arm; PD control; Adaptive PD control; Trajectory tracking;Computer simulation