基于线性滤波降阶的串联机械臂非线性反馈跟踪控制  

Nonlinear Feedback Tracking Control of Series Manipulator Based on Linear Filter Reduction

作　　者：王东云 李继朋[2] 王瑷珲 蔡飞[2] 郭光复 WANG Dong-yun;LI Ji-peng;WANG Ai-hui;CAI Fei;GUO Guang-fu(HuangHuai University,Zhumadian,Henan 463000,China;Zhongyuan University of Technology,Zhengzhou,Henan 450007,China)

机构地区：[1]黄淮学院,河南驻马店463000 [2]中原工学院,河南郑州450007

出　　处：《计算技术与自动化》2018年第1期1-4,30,共5页Computing Technology and Automation

基　　金：国家自然科学基金资助项目(61304115);河南省自然科学基金资助项目(162300410345)

摘　　要：设计了一种基于线性滤波降阶的串联机械臂非线性反馈跟踪控制系统,实现了对机械臂关节位移和速度的全局指数跟踪。首先,通过拉格朗日方法建立起两自由度串联机械臂的动态模型;其次,在系统模型中引入一个线性滤波器,将系统化解为关于线形滤波变量的一阶动态方程,然后,设计非线性反馈控制器,通过前馈以补偿系统的非线性和耦合性,并且通过李雅普诺夫稳定性方法证明了所设计控制器可实现系统的全局指数稳定,能完成对期望位移和速度的指数跟踪;最后,通过仿真验证了所提出方法的有效性。A nonlinear feedback tracking control system based on linear filter reduction is designed to realize the global exponential tracking of joint displacement and velocity of manipulator.Firstly,a dynamic model of two-degree-degree series manipulator is established by Lagrangian method.Secondly,a linear filter is introduced into the system model to solve the first-order equations of motion for linear filter variables.Then,Linear feedback controller,which feeds forward to compensate the nonlinearity and coupling of the system,and proves that the designed controller can realize the global exponential stability of the system by the Lyapunov stability method,and can complete the exponential tracking of the desired displacement and velocity Finally,the validity of the proposed method is verified by simulation.

关 键 词：串联机械臂 线性滤波 跟踪控制 反馈线性化 李雅普诺夫函数 指数稳定 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置] TH16[自动化与计算机技术—控制科学与工程]