基于演算子理论的含有未知不确定性机械臂的鲁棒非线性精确跟踪控制  

Operator- based Robust Nonlinear Perfect Tracking Control to a Manipulator with Unknown Uncertainties

作　　者：刘琴[1] 

机构地区：[1]中原工学院电子信息学院,河南郑州450007

出　　处：《信阳师范学院学报（自然科学版）》2014年第4期577-580,共4页Journal of Xinyang Normal University(Natural Science Edition)

基　　金：国家自然科学基金项目(61074022);国际合作重大专项(2010DFA22770)

摘　　要：设计了一种基于演算子理论的含有未知不确定性机械臂的鲁棒非线性精确跟踪控制系统.机械手臂的模型不确定性包含未知模型误差和外界扰动对系统性能的影响.考虑未知的不确定模型在设计精确跟踪控制器产生限制情况下,设计了一种基于演算子理论的反馈控制结构来消除不确定模型的影响.基于得到的控制结构,提出了新的精确跟踪条件用来改进机械臂的跟踪性能.最后通过仿真结果验证了设计系统的有效性.An operator-based robust nonlinear perfect tracking control for a manipulator with uncertainties was pro-posed by using operator-based robust right coprime factorization approach. The unknown uncertainties of the manipula-tor dynamics consist of the unknown modeling errors in measuring structural parameters of the robot arm and the exter-nal disturbances in real situations. Considering the unknown uncertain plant generates limitations in obtaining the tracking controller, an operator-based feedback control scheme was designed to eliminate the effect of uncertain plant. Then, a new perfect tracking condition was proposed for improving the trajectory of the robot arm. Finally, the effec-tiveness of the designed system was confirmed by simulation results.

关 键 词：机械臂 未知不确定性 鲁棒右互质分解 鲁棒非线性精确跟踪控制 

分 类 号：TP182[自动化与计算机技术—控制理论与控制工程]