机械臂自适应鲁棒轨迹跟踪控制  

Adaptive Robust Tracking Control for Robotic Manipulators

作　　者：王三秀[1,2] 俞立[2] 徐建明[2] 邢科新[2] 王正初[1] 

机构地区：[1]台州学院物理与电子工程学院,浙江台州318000 [2]浙江工业大学信息工程学院,浙江杭州310032

出　　处：《控制工程》2015年第2期241-245,共5页Control Engineering of China

基　　金：国家自然科学基金(61304048)(61202203);台州市科技计划项目(14GY04)(131ky10)

摘　　要：针对具有外界干扰和不确定性的机械臂轨迹跟踪控制问题,提出了一种自适应鲁棒补偿控制算法,将计算转矩法用于系统标称模型,鲁棒控制用于消除系统不确定性的影响,并通过自适应算法自动调节不确定项,保证系统存在建模误差和外部干扰时的稳定性和动态性能。给出了具体的控制算法设计和系统稳定性、收敛性证明,最后通过仿真实验,表明系统具有跟踪误差快速收敛性以及良好的鲁棒性。A novel adaptive robust tracking control scheme is proposed for the robot manipulators with external disturbance and uncertainties. The proposed controller is comprised of a computed torque controller and adaptive robust controller. The computed torque controller is used for the nominal model and adaptive robust controller is employed to compensate the effects of the uncertainties, which can be adjusted by the adaptive law automatically to guarantee the stability and transient performance of the system. Design of control scheme procedure and proof of the stability and convergence are given in the paper. Simulation results show that the proposed control scheme can achieve fast tracking performance and good robustness.

关 键 词：机械手 轨迹跟踪 自适应鲁棒控制 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]