基于鲁棒观测器的肘关节鲁棒自适应控制  

Robust adaptive control of elbow based on robust observer

作　　者：罗高生[1] 顾临怡[1] 李林[1] 

机构地区：[1]浙江大学流体动力与机电系统国家重点实验室,浙江杭州310027

出　　处：《浙江大学学报（工学版）》2014年第10期1758-1766,1794,共10页Journal of Zhejiang University：Engineering Science

基　　金：国家"863"高技术研究发展计划资助项目(2008AA092301)

摘　　要：针对伺服阀控制的、双螺旋副传动的七功能机械手肘关节存在液压系统强非线性、易受外界环境温度和压力变化引起的参数不确定性、外界未知强干扰和仅有位置和油液压力状态反馈的控制特点,提出基于鲁棒观测器的输出反馈鲁棒自适应控制方法.该方法利用反演控制器设计方法对耦合的不确定系统参数和未知状态进行解耦,结合鲁棒观测器和鲁棒自适应控制器设计方法分别对未知状态和不确定参数进行观测和估计,使用李雅普诺夫稳定性理论保证了系统全局渐进稳定的控制性以及系统状态的有界性,解决了同时存在系统参数不确定性和部分未知状态相耦合的鲁棒控制问题.以国家高科技发展计划4 500m深海作业系统的七功能主从液压机械手肘关节作为研究对象,使用提出的控制方法进行在未知外界干扰下的对比研究.实验结果表明,闭环系统可以很好地跟踪参考轨迹,具有较强的鲁棒性,能够获得令人满意的稳态精度和动态性能;修正后的参数自适应律能够保证在外界未知干扰下估计参数的有界性.A robust output feedback adaptive control method based on robust observer was proposed based on the fact that the servo-valve controlled elbow joint of a 7-function hydraulic manipulator with double- screw-pair transmission has the control characteristics of strong nonlinearity of the hydraulic system, parametric uncertainties susceptible to temperature and pressure changes of the external environment, unknown external disturbances, and only position and pressure state feedback. The design method of the backstepping controller was utilized to decouple the uncertain system parameters and unknown states. The robust estimator and robust adaptive controller design method were combined to estimate unknown states and uncertain parameters. The globally asymptotic stability and boundedness of system states were guaranteed by using Lyapunov stability theory. Then the robust control problems of coupled uncertain system parameters and partially unknown states were successfully solved. Using the elbow joint of the 7-function master-slave hydraulic manipulator for the 4 500 meter Deep-sea Working System as the research subject, a comparative study was conducted by using the control method under unknown external disturbances. Experimental results show that the close-loop system with strong robustness can track the desired reference trajectory with satisfied dynamic performance and steady accuracy. The modified parameter adaptive laws can also guarantee the boundedness of the estimated parameters.

关 键 词：液压系统 双螺旋副传动 鲁棒观测器 输出反馈鲁棒自适应控制 反演控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]