非完整移动机械手的鲁棒控制及仿真研究  

Robust Control and Simulink of Nonholonomic Mobile Manipulators

作　　者：冯冬青[1] 谷丽红[1] 

机构地区：[1]郑州大学信息与控制研究所,郑州450001

出　　处：《组合机床与自动化加工技术》2008年第3期55-59,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：河南省自然科学基金资助项目(0511010800)

摘　　要：讨论了受摩擦力、外界干扰及参数不确定的非完整机械手控制问题。为了提高移动机械手的控制性能,通过分别建立移动基座、机械手、移动机械手的Lyapunov函数,研究了由非完整移动基座和完整机械手组成的移动机械手的鲁棒跟踪控制算法。首先从理论上证明了所提出的控制算法能使整个系统稳定,满足跟踪误差有任意小上界。并在Matlab7.0环境下对系统进行仿真研究,仿真结果表明,采用该算法能控制机械手的灵活操作和有效移动,可应用于实际系统当中。This paper studies the robust tracking control problem of nonholonomic mobile manipulators in which parameter untertainty, system friction and disturbance are considered. The nonholonomic mobile manipulators composed of a nonholonomic mobile platform and manipulators mounted on the mobile platform. In order to enhance the control of the mobile manipulators, through establishing Lyapunov function of mobile platform, manipulatou and mobile manipulator, has studied the robust tracking control. The control algorithm causes the overall system to be stable,and can enable the error of tracking to have wilfully the small upper boundary,Then simulations presented in this paper show the effectiveness of the proposed approach.

关 键 词：移动机械手 鲁棒控制 轨迹跟踪 

分 类 号：TG659[金属学及工艺—金属切削加工及机床] TP273[自动化与计算机技术—检测技术与自动化装置]