基于参数不确定机械臂系统的自适应轨迹跟踪控制  

Adaptive trajectory tracking control for manipulator with uncertain dynamics and kinematics

作　　者：杨亮 陈勇[2] 刘治[3] YANG Liang;CHEN Yong;LIU Zhi(School of Computer Engineering,University of Electronic Science and Technology of China,Zhongshan Institute,Zhongshan 528402,China;School of Automation Engineering,University of Electronic Science and Technology of China,Chendu 611731,China;Faculty of Automation,Guangdong University of Technology,Guangzhou 510006,China)

机构地区：[1]电子科技大学中山学院计算机学院,广东中山528402 [2]电子科技大学自动化工程学院,成都611731 [3]广东工业大学自动化学院,广州510006

出　　处：《控制与决策》2019年第11期2485-2490,共6页Control and Decision

基　　金：国家自然科学基金项目(61573108,U1613223,U1501251,U1613223);广东省自然科学基金项目(2016A030313715,2016A030313018);中央高校基本科研业务费专项资金项目(ZYGX2016J140);四川省科技支撑计划项目(2016GZ0395,2017GZ0395,2017GZ0394);中山市科技计划项目(2017A1024,2017SF0603)

摘　　要：针对机械臂系统惯性参数及运动学参数不能准确测量进而影响轨迹跟踪性能的问题,提出一种任务空间自适应轨迹跟踪控制方法,通过定义关节角速度参考误差,并将任务空间的轨迹跟踪误差及运动学参数误差反馈给控制器,以改善系统稳定性,设计电机参数传输矩阵及电机参数自适应率,以抵消电机发热引起参数漂移对跟踪性能影响,并给出了稳定性证明.实验结果表明,该方法能够较好地克服电机参数漂移对跟踪控制性能的影响.In view of the control performance problem caused by imprecise measurement of inertia and kinematic parameters of manipulators,a task-space adaptive trajectory tracking control approach is proposed.By designing the joint reference error,the position tracking errors and kinematic parameters errors in task-space are transmitted to the controller in the form of feedback such that the stability of closed-loop system is improved.Then,the motor parameters transform matrix and parameter adaption laws are designed to counteract the effect of overheating of the motor on tracking control performance.Finally,the stability of the closed-loop system is proven.Experiment results show that the proposed scheme can effectively improve the control performance.

关 键 词：机械臂 自适应控制 参数不确定 轨迹跟踪 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]