基于建模优化的连续体机器人轨迹跟踪及扰动抑制策略研究  

Trajectory Tracking Control and Disturbance-Rejection Strategy for Continuum Robots with Improved Modeling Method

作　　者：朱雨琪 向国菲[1] 马丛俊 游星星 佃松宜[1] ZHU Yuqi;XIANG Guofei;MA Congjun;YOU Xingxing;DIAN Songyi(College of Electrical Engineering,Sichuan Unverisity,Chengdu 610065,China)

机构地区：[1]四川大学电气工程学院,成都610065

出　　处：《空间控制技术与应用》2022年第2期29-38,共10页Aerospace Control and Application

基　　金：国家重点研发计划资助项目(2018YFB1307401)。

摘　　要：连续体机器人结构复杂,自由度高,难以进行精确建模和运动控制,为解决该问题,提出了一种改进的建模优化方法和基于降阶线性扩张状态观测器的线性自抗扰控制策略.首先在分段常曲率假设下提出一组改进状态参数,以解决连续体机器人直立状态的运动奇异问题,并基于此建立机器人的运动学和动力学模型.接着设计了降阶线性扩张状态观测器来观测并补偿未精确建模系统的内外扰动,降低了观测器的峰值现象.然后通过设计线性反馈控制律构成整体自抗扰控制回路.基于Lyapunov理论给出了观测器收敛性证明.最后设计了一个仿真实验与传统的滑模控制进行比较,结果表明本文提出的方法能够实现连续体机器人的轨迹跟踪,且具有更强的鲁棒性和扰动抑制能力.Aiming at the modeling and control problems of the continuum robot due to its innate nonlinear dynamics and infinite degrees of freedom,an improved modeling method is proposed to avoid singularities,which produce pathological behaviors mainly on straight configuration.A novel control strategy that can effectively reject external or internal disturbance is designed.First,kinematics and dynamics models of the continuum robot are built based on a proposed improved parameterization,which can solve the motion singularity.Then,a reduced-order linear extended state observer is designed to observe and compensate the uncertainties and external disturbances of the inaccurately modeled system,and reduce the peak phenomenon.Finally,a tailored controller is designed to form a control loop.The convergence of the observer is proved based on the Lyapunov theory.Compared with the aforementioned method with the sliding mode control,the experimental results show that the proposed method can better integrate prior knowledge,without wasting model information,and achieve stronger robustness and disturbance rejection capabilities.

关 键 词：连续体机器人 建模优化 扩张状态观测器 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]