基于未知系统动态估计器的柔性关节机械臂funnel控制  

Funnel control of flexible-joint manipulators using an unknown system dynamics estimator

作　　者：陈强[1] 顾贤拥 南余荣[1] 丁科新 战猛 CHEN Qiang;GU Xianyong;NAN Yurong;DING Kexin;ZHAN Meng(College of Information Engineering,Zhejiang University of Technology,Hangzhou 310023;School of Mechanical and Electrical Engineering,Hangzhou Polytechnic,Hangzhou 311400;FAW Jiefang Qingdao Automobile Co.Ltd.,Qingdao 266217)

机构地区：[1]浙江工业大学信息工程学院,杭州310023 [2]杭州科技职业技术学院机电工程学院,杭州311400 [3]一汽解放青岛汽车有限公司,青岛266217

出　　处：《高技术通讯》2022年第1期66-76,共11页Chinese High Technology Letters

基　　金：国家自然科学基金面上项目(61973274);浙江省自然科学基金(LY20E070007)资助项目。

摘　　要：针对带有模型不确定和外部干扰的柔性关节机械臂,提出一种基于未知系统动态估计器的funnel控制方法。基于低通滤波器设计未知系统动态估计器,用于估计模型不确定和外部干扰,该估计器结构简单,仅有一个可调参数。构造带有时变约束边界的新型funnel变量,保证系统跟踪误差被限制在预先设定的边界内,进而改善系统瞬态性能。在此基础上,设计反演控制器,保证系统输出快速准确跟踪期望轨迹。为避免传统反演法中的“微分爆炸”问题,设计跟踪微分器逼近虚拟控制律导数。并给出数值仿真对比验证本文所提方法的有效性。An unknown system dynamics estimator based funnel control scheme is proposed for flexible-joint manipulator systems with model uncertainties and external disturbances.An unknown system dynamics estimator is designed to estimate model uncertainties and external disturbances by using a low-pass filter,whose structure is simple with on-ly one parameter to be tuned.Then,a funnel variable with a time-varying constrained boundary is constructed to guarantee that the system tracking error can be retained within a prescribed boundary,and thus the transient per-formance of system is improved.In addition,a backstepping controller is designed to guarantee that the system out-put can track the desired trajectory quickly and accurately.Moreover,a tracking differentiator is developed to ap-proximate the derivative of the virtual control law,such that the problem of‘explosion of complexity’in traditional backstepping approaches can be avoided.Numerical simulations are provided to demonstrate the effectiveness of the proposed scheme.

关 键 词：柔性关节机械臂 未知系统动态估计器 funnel控制 跟踪微分器 输出约束 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]