基于Backstepping的机器人有限时间跟踪控制研究  

Research on Finite Time Tracking Control for Robot Based on Backstepping

作　　者：刘海涛[1] 张铁[2] 

机构地区：[1]广东海洋大学工程学院,广东湛江524088 [2]华南理工大学机械与汽车工程学院,广东广州510640

出　　处：《机床与液压》2013年第15期30-33,110,共5页Machine Tool & Hydraulics

基　　金：国家863重点项目(2009AA043901-3);粤港关键领域招标项目(20090101-1);广东省科技计划项目(2010B080703004);广东省省部产学研项目(2010B090400259)

摘　　要：研究了具有动力学参数不确定和外界干扰情况下机器人的轨迹跟踪问题,结合Backstepping的递推设计方法,提出了一种有限时间稳定的跟踪控制方法。一方面保证了系统的有限时间收敛,因而瞬时响应快,跟踪精度高;另一方面通过引入变结构项,增强了鲁棒性。利用有限时间稳定性定理证明了该算法是有限时间稳定的,最后通过对2自由度工业机器人的数值仿真验证了该算法的有效性和可行性。The trajectory tracking control problem for robot system with dynamic parameters uncertainties and external disturbance was researched,and a finite time stability tracking control method was proposed by using in combination of recurrence design method of Backstepping.On the one hand,the finite time convergence was guaranteed,thus fast transient response,and high-precision tracking were obtained;the other hand,robustness was enhanced through the introduction of variable structure term.The finite time stability theory was employed to prove global finite time stability of this algorithm.Finally,the effectiveness and feasibility of this algorithm are verified through numerical simulation of the industrial robot with two-degree of freedom.

关 键 词：机器人 轨迹跟踪 BACKSTEPPING 有限时间稳定 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]