不确定刚性机械臂的鲁棒输出控制  

Robust output control of the uncertain rigid robot manipulator

作　　者：李世敬[1] 富彦丽[2] 萧蕴诗[1] 

机构地区：[1]上海同济大学电子与信息工程学院 [2]上海应用技术学院机电学院,上海200235

出　　处：《电机与控制学报》2006年第3期308-311,共4页Electric Machines and Control

摘　　要：针对不确定刚性机械臂系统的鲁棒控制和抖振问题,在仅有精确关节位置反馈的情况下,通过引入速度滤波器生成伪速度信号,并利用反推补偿设计滤波增益,提出了一种基于速度估计的鲁棒输出反馈控制策略。滤波器-控制器设计中不含有开关控制项,有效避免了控制抖振现象。该算法对采样频率无严格限制,最终可确保系统闭环半全局一致有界收敛。通过两关节机械臂的仿真实例验证了所提算法的有效性。For resolving the problem of robust control and chatter of the uncertain rigid robot manipulator system, the velocity filter is introduced to build a pesudo-velocity signal with the condition that only joint position feedback can be obtained accurately, and the filter gain is designed through the backstepping compensation. A robust output feedback control of the uncertain robot manipulator is proposed by using velocity estimation. To avoid the control chatter effectively, the switch control term is abandoned in the filter-controller. The algorithmic relaxes the strict limit on sample frequency, and can guarantee SGUUB （ semi-global uniform ultimate boundedness） of the closed-loop system. The validity of the proposed algorithmic is verified through simulation studies on two joints planner robot manipulator.

关 键 词：机械臂 速度滤波器 鲁棒控制 半全局一致有界收敛 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]