多关节机器人的反步法控制及仿真研究  

Control and Simulation of Multi-Link Robots Based on Backstepping

作　　者：李鹏[1] 高述勇 杨杰[1] 迟洁茹[2] LI Peng;GAO Shuyong;YANG Jie;CHI Jieru(School of Electromechanic Engineering,Qingdao University,Qingdao 266071,China;School of Electronic Information,Qingdao University,Qingdao 266071,China)

机构地区：[1]青岛大学机电工程学院,山东青岛266071 [2]青岛大学电子信息学院,山东青岛266071

出　　处：《青岛大学学报（工程技术版）》2020年第1期39-44,共6页Journal of Qingdao University(Engineering & Technology Edition)

摘　　要：针对关节型机器人的轨迹跟踪控制问题,本文设计了基于反步法的控制器。利用反步法将复杂的非线性机器人系统分解成两个子系统,借助Lyapunov函数设计中间虚拟控制量,一直后推到整个系统,获取控制系统实际的控制律,同时利用积分环节将每个子系统串联起来,从而形成对整个系统的控制,并利用Lyapunov稳定性定理,证明了系统的稳定性。同时,以两自由度关节型机器人为研究对象,搭建仿真控制系统进行仿真分析。仿真结果表明,反步法控制不仅具有良好的动态和稳态性能,而且鲁棒性较强,说明该控制方法的轨迹跟踪控制有效可行。该研究具有良好的应用前景。Aiming at the tracking control of multi-link robots,a controller based on backstepping is designed.Backstepping method can decompose the nonlinear robot system into two subsystems.And by the use of Lyapunov function,we can design inter virtual control variables,until back to the whole system.Then by the use of the Lyapunov function,we can obtain the actual control law of the control system.Each subsystem is connected in series by the use of integral part,thus it can realize the control of entire system.The Lyapunov stability theorem is used to prove the stability of the system.The simulation results show that the backstepping method not only has good dynamic and steady-state performance,but also has strong ability to suppress the external interference.The simulation results indicate that the trajectory tracking control of backstepping is effective and feasible.The control method has a good application prospect.

关 键 词：关节型机器人 反步法控制 跟踪控制 稳定性 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]