刚体连杆电驱动机器人的分散鲁棒跟踪控制  

DECENTRALIZED ROBUST TRACKING CONTROL FOR RIGID-LINK ELECTRICALLY DRIVEN ROBOTS

作　　者：石宗英[1] 钟宜生[1] 徐文立[1] 

机构地区：[1]清华大学自动化系,北京市海淀区100084

出　　处：《中国电机工程学报》2005年第5期126-130,共5页Proceedings of the CSEE

基　　金：国家自然科学基金项目(60374035)。~~

摘　　要：该文针对不确定刚体连杆电驱动机器人的跟踪控制问题,提出了一种新的分散控制器设计方法:首先设计标称控制器使标称闭环系统具有理想的跟踪性能;然后设计鲁棒补偿器以抑制非线性耦合、关节摩擦、参数不确定性和外扰等因素的影响。理论分析及仿真结果表明,在具有足够带宽的情况下,不需要测量电枢电流,该控制器可以保证跟踪误差局部终值有界,并具有可在线调整的特点。A new design method of decentralized robust tracking controller for rigid-link electrically driven robots with uncertainties is proposed which is divided into two steps: Firstly, a nominal controller is designed which enables the nominal close-loop plant to achieve desired properties. Then a robust compensator is added to restrain the influence of nonlinear couplings, joint frictions, parameter uncertainties, external disturbances and so on. By applying the controller with a sufficiently wide frequency bandwidth, without the measurement of motor’s armature currents, local uniform ultimate boundedness is achieved, which is verified in theoretical proof and simulation results. In addition, the controller has the characteristic of tuning on-line.

关 键 词：机器人 鲁棒跟踪控制 仿真结果 参数不确定性 控制器 跟踪误差 分散控制 刚体 有界 非线性耦合 

分 类 号：TM38[电气工程—电机] TP242[自动化与计算机技术—检测技术与自动化装置]