Robust Nonlinear PID Controllers for Anti-windup Design of Robot Manipulators with an Uncertain Jacobian Matrix  

作　　者：HUANG Chun-Qing PENG Xia-Fu WANG Jun-Ping 

机构地区：[1]Department of Automation, Xiamen University, Xiamen 361005, P.R. China [2]Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System, Xi＇an Jiaotong University, Xi＇an 710049, P.R. China

出　　处：《自动化学报》2008年第9期1113-1121,共9页Acta Automatica Sinica

基　　金：Supported by National Natural Science Foundation of China （60704043） and Research Fund for the Doctoral Program of Higher Education （20070384031）

摘　　要：至于有不明确的 Jacobian 矩阵的机器人操纵者的笛卡儿的规定，柔韧的非线性的 PID (RN-PID ) 控制器的一个反上发条的计划被建议解决在象 PID 一样控制系统从不可分的行动和综合者终结产生的实际问题。当位置和联合速度大小仅仅被要求时， Asymptotic 稳定性被保证；靠近环的系统也由于对不可分的行动起作用的限制被保证的结果的坚韧性。特别与另外的反上发条的途径相比，建议算法为反上发条的设计更简单、更有效。As for Cartesian regulation of robot manipulators with uncertain Jacobian matrix, an anti-windup scheme of robust nonlinear PID （RN-PID） controllers is proposed to solve the practical problems arising from integral action and integrator windup in PID-like control systems. Asymptotic stability is guaranteed while position and joint velocity measurements are only required; robustness of the resulting closed-loop system is also guaranteed due to the constraints acting on integral action. Especially, compared with other anti-windup approachs, the proposed algorithm is simpler and more effective for anti-windup design.

关 键 词：非线性 PID控制系统 自动化系统 设计方案 矩阵 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置] TM63[自动化与计算机技术—控制科学与工程]