电机驱动机械人手臂的鲁棒自适应控制  

Robust Adaptive Control of Electrical-driven Robot Arm

作　　者：王允建[1] 刘贺平[1] 

机构地区：[1]北京科技大学信息工程学院,北京100083

出　　处：《控制工程》2009年第4期485-487,494,共4页Control Engineering of China

基　　金：国家自然科学基金资助项目(60374032)

摘　　要：针对电机驱动机械手的工作环境复杂负载变动大难控制的问题,提出一种机械手的鲁棒自适应控制方法。通过代数运算将机器人手臂模型变换为线性误差系统加未知干扰的形式。设计误差系统的积分滤波器,通过合理地选择滤波器参数,可使滤波器输出渐近收敛到零。同时由滤波器可得到理想电流和干扰的更新估计。以理想电流为目标设计电机的控制律。基于Lyapunov稳定理论分析了该方法的稳定性,给出了稳定性充分条件。实例仿真结果表明该方法有效。A robust adaptive controller is presented for the difficult control problem of electrical-driven robot arm which works in the complexi environment and big load changes. The robot arm model is transformed into linear error system with disturbance through algebra operation. An error integral filter is designed. Through a reasonable choice of filter parameters, the output of filter can asymptotically converge to zero. And ideal current and updated estimators of disturbance are derived. A motor controller is designed to track the ideal current and the final control law is obtained. Based on the Lyapunov stability theory, the stability of the robust adaptive controller is given with a sufficient condition. The simulation results show the effective ness of the proposed method.

关 键 词：鲁棒自适应控制 机器人系统 LYAPUNOV方法 不确定非线性系统 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]