An adaptive switching control approach for trajectory tracking of robotic manipulators  

一种工业机器人轨迹跟踪的自适应切换控制方法（英文）

作　　者：杨振[1,2] 费树岷[1] 王芳[2] 鲍安平[1] 刘顾全[1] 

机构地区：[1]东南大学复杂工程系统测量与控制教育部重点实验室,南京210096 [2]枣庄学院信息科学与工程学院,枣庄277100

出　　处：《Journal of Southeast University(English Edition)》2016年第2期183-186,共4页东南大学学报（英文版）

基　　金：The National Natural Science Foundation of China(No.61273119,61374038,61473079)

摘　　要：In order to design a suitable controller which can achieve accurate trajectory tracking and a good control performance, and guarantee the stability and robustness of a robot system due to external disturbances error and internal parameter variations, an adaptive switching control strategy is proposed. The proposed scheme is designed under the condition of bounded distances and consists of an adaptive switching law and a PD controller. Based on the Lyapunov stability theory, it is proved that the proposed scheme can guarantee the tracking performance of the robotic manipulator and is adapted to varying unknown loads. Simulations are carded out on a two-link robotic manipulator, which illustrate the feasibility and validity of the proposed control scheme and the robustness for variational payloads.针对机器人系统易受外部干扰及内部参数变化影响的问题,以设计具有良好跟踪性能及优良控制品质、保证系统稳定性和鲁棒性的控制器为目标,提出了一种自适应切换控制方法.该控制方法在系统干扰有界的条件下获得,包括PD控制器和自适应切换2部分.应用李雅谱诺夫稳定性理论证明了所提控制方法既能够保证机器人的跟踪性能,也可以适应变化的未知负载.以二连杆机器人为被控对象的仿真研究表明,所提出的控制方法有效可行,对系统负载的变化具有一定的鲁棒性.

关 键 词：adaptive control switch control roboticmanipulator trajectory tracking 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]