欠驱动两自由度机械臂LQG/LTR控制  

LQG/LTR Control of Underactuated Two-degree-of-freedom Manipulator

作　　者：徐玉龙 王学林 张磊[1] 王鹏[1] XU Yu-long;WANG Xue-lin;ZHANG Lei;WANG Peng(Institute of Automation,Qilu University of Technology(Shandong Academy of Sciences)/Shandong Provincial Key Laboratory of Robot and Maunfacturing Automation Technology,Jinan 250014,China)

机构地区：[1]齐鲁工业大学(山东省科学院)自动化研究所/山东省机器人与制造自动化技术重点实验室,济南250014

出　　处：《科学技术与工程》2023年第6期2485-2491,共7页Science Technology and Engineering

基　　金：国家重点研发计划(2021YFE0103300);山东省重点研发计划(2019GGX104016);山东省重点研发计划(国际科技合作)(2019GHZ006);齐鲁工业大学(山东省科学院)科教产融合试点工程(2022JBZ02-02)。

摘　　要：针对欠驱动机械臂系统的快速稳定控制中存在着的系统过程噪声和传感器观测噪声的干扰问题,设计了具有回路传输恢复的线性二次高斯(linear quadratic Gaussian control with loop transfer recovery, LQG/LTR)控制器。该控制器由卡尔曼滤波器和最优状态反馈增益调节器两部分组成,并进一步使用了回路传输恢复技术提高了控制系统稳定裕度。仿真试验表明:LQG/LTR控制方法相比于线性二次型调节器控制方法具有更加出色的动态品质,能很好地抑制噪声造成的系统不稳定问题,使得机械臂快速稳定在期望位置,具备良好的稳定性和鲁棒性。A linear quadratic Gaussian controller with loop transfer recovery(LQG/LTR)is designed for the fast and stable control of underactuated manipulator systems with interference from system process noise and sensor observation noise.The controller consists of a Kalman filter and an optimal state feedback gain regulator,and further used loop transfer recovery to improve the stability margin of the control system.Simulation tests show that the LQG/LTR control method has better dynamic quality than the linear quadratic regulator control method,which can suppress the system instability caused by noise and make the robot arm stabilise quickly in the desired position with good stability and robustness.

关 键 词：欠驱动系统 具有回路传输恢复的线性二次高斯控制器(LQG/LTR) 随机噪声 优化控制 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]