带有摩擦的机器人鲁棒控制  

ROBUST CONTROL FOR ROBOT WITH FRICTION

作　　者：周景雷[1] 张维海[1] 

机构地区：[1]山东科技大学信息与电气工程学院,青岛266510

出　　处：《机械工程学报》2007年第9期102-106,共5页Journal of Mechanical Engineering

基　　金：国家自然科学基金(60474013);山东省优秀中青年科学家科研奖励基金(2004BS01010)资助项目。

摘　　要：根据机械系统中摩擦力的特性,把有关标量情况下摩擦力的结论推广到矢量空间中,使机器人系统中的外部随机干扰控制问题具体化。首先利用反馈控制技术,把基于拉格朗日方程的机器人动力学模型转化成一个线性状态方程,并详细介绍这一转化过程。然后基于此线性状态方程,应用李雅普诺夫函数稳定性理论,针对摩擦力的一般特性,设计鲁棒补偿控制器来抑制摩擦力对机器人控制系统的影响,以使机器人实际运动轨迹能够全局渐近收敛于所给定的期望轨迹。所设计的控制器具有理论清晰、设计简单、鲁棒性好等优点。给予完整的理论证明,最后以两关节机器人为例,给出仿真试验结果。通过对比采用不同控制器所得出的不同仿真结果,可以看出所提出的鲁棒控制器具有较好的实用效果。According to the characteristic of friction in machine system, the friction force result in scalar case is extended to the vector space case, which makes the control problem of the external stochastic disturbance in robotic systems embodied. First, the robotic dynamical model based on Lagrange equation is transformed into a linear state equation via feedback control technique. Then, based on the linear state equation together with the Lyapunov stability theory, the robust compensated controller corresponding to the general trait of friction is designed to attenuate the effect coming from the unexpected friction force of robotic control systems. The aim is that the actual movement trace can converge to the desired position asymptotically in global sense. The designed controller exhibits some merits such as clear theory, easy design, and good robusteness and so on. Moreover, a completed theory proof is given. Finally, the simulation test results are given by taking a two-joint robot as an example, From the comparison between the two different simulation results which are obtained by using different controller, it can be seen that the presented robust controller performs well in application.

关 键 词：机器人 摩擦 鲁棒控制 全局渐近稳定 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]