基于动态观测器的不确定机器人鲁棒控制研究  

A Study on the Uncertain Robust Control of Robot Based on Dynamic Observer

作　　者：李世敬[1] 王解法[2] 冯祖仁[2] 萧蕴诗[3] 

机构地区：[1]上海日立电器有限公司技术中心,上海201206 [2]西安交通大学系统工程研究所,陕西西安710049 [3]上海同济大学电子与信息工程学院,上海200092

出　　处：《兵工学报》2005年第2期263-266,共4页Acta Armamentarii

摘　　要：针对仅有精确位置测量的机器人系统 ,在系统参数不确定和有界干扰并存的情况下 ,提出一种基于速度观测的鲁棒控制方案。在滑模观测器设计中引入补偿项 ,动态抵消系统偏差对速度重构的影响 ,确保观测误差指数收敛到有界域。采用Lyapunov直接法设计基于标称模型和观测速度的鲁棒控制律 ,使系统闭环满足局部一致最终有界收敛。With parameter inaccuracies and bounded disturbances, a robust control scheme based on velocity observations was proposed for robot systems in which only the positions can be precisely measured. By the introduction of a compensation term in the design of the sliding mode observer that counteracts the effect of system deviations to the velocity reconstruction, the exponential observation error is converged to a bounded region. Using the Lyapunov direct method in designing the robust control laws based on the normal model and observed velocity, the closed-loop system satisfies the local uniform ultimate boundedness. The effectiveness of the proposed scheme is verified through simulation studies on a 2D of planar robot.

关 键 词：鲁棒控制 不确定 机器人系统 一致最终有界 滑模观测器 平面机器人 速度 有界域 指数收敛 系统参数 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]