基于时延估计和鲁棒H_∞控制的工业机器人跟踪控制  

Tracking Control of Industrial Robot Based on Time Delay Estimation and Robust H_∞ Control

作　　者：刘海涛[1] 张铁[1] 

机构地区：[1]华南理工大学机械与汽车工程学院,广东广州510640

出　　处：《华南理工大学学报（自然科学版）》2012年第1期77-81,87,共6页Journal of South China University of Technology(Natural Science Edition)

基　　金：国家"863"计划重点项目(2009AA043901-3);粤港关键领域重点项目(20090101-1);广东省科技计划项目(2010B080703004);广东省省部产学研合作引导项目(2010B090400259)

摘　　要：针对六自由度工业机器人系统,结合时延估计控制和鲁棒H∞控制的优点,提出了一种鲁棒H∞时延估计跟踪控制算法.该算法不需要机器人的复杂动力学模型,避免了机器人逆动力学的在线实时计算;采用时延估计在线获得机器人系统的未知动力学和外界干扰,并对控制过程加以补偿;通过引入L2增益控制,可实现对时延估计误差的L2干扰抑制,从而进一步提高了系统的鲁棒性.同时,利用Lyapunov函数和Riccati不等式保证了闭环系统的渐近稳定性和H∞鲁棒性能.该算法计算简单,结构固定,鲁棒性强,易于实现.文中还通过二自由度机器人的仿真实验证明了该算法是有效的.Proposed in this paper is a tracking control algorithm of 6-DOF（Degree of Freedom） industrial robots,which takes advantage of both the time delay estimation and the robust H∞ control.In this algorithm,no complicated dynamic models of robots are required,so that the on-line and real-time computation about the robotic inverse dynamics is avoided.Moreover,time delay estimation is used to obtain the unknown dynamics and the external disturbances of robots on line and to perform a compensation during the tracking control,and the L2-gain control is employed to guarantee the L2 disturbance attenuation for the time delay estimation error and to further improve the system robustness.In addition,the Lyapunov function and the Riccati inequality are employed to respectively gua-rantee the asymptotic stability and H∞ robustness of a robotic closed-loop system.The proposed algorithm is of simple computation,fixed structure and strong robustness and is easy to implement in practice.The simulations on a 2-DOF industrial robot demonstrate that the proposed algorithm is feasible and effective.

关 键 词：工业机器人 跟踪控制 时延估计 渐近稳定性 鲁棒性 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]