柔性关节机械臂系统的鲁棒自适应跟踪控制  

Robust adaptive tracking control of flexible joint manipulator system

作　　者：杨帆 武力兵[1] YANG Fan;WU Libing(School of Science,University of Science and Technology Liaoning,Anshan 114051,China)

机构地区：[1]辽宁科技大学理学院,辽宁鞍山114051

出　　处：《高师理科学刊》2023年第5期39-45,共7页Journal of Science of Teachers＇College and University

基　　金：辽宁省科技厅自然科学基金面上项目(2022-MS-356);辽宁省教育厅自然科学基金面上项目(LJKZ0284)。

摘　　要：针对一类带有参数不确定性及外部扰动的柔性关节机械臂系统,在考虑系统存在参数不确定性的前提下,给出混合干扰.提出鲁棒自适应反步控制策略,设计参数更新律补偿外部扰动和模型误差对系统的影响.给出系统输入转矩,通过Lyapunov稳定性分析证明所有闭环信号是有界的,并且系统输出能够渐近跟踪到期望的参考信号,利用Matlab仿真分析验证了所提出控制方案的有效性.For a class of flexible joint manipulator systems with parameter uncertainties and external disturbances,the mixed disturbances are proposed under the premise of considering the parameter uncertainties of the system.A robust adaptive back stepping control strategy is proposed and a new parameter law is designed to compensate the influence of external disturbances and model errors on the system.The system input torque is given,and the Lyapunov stability analysis proves that all closed-loop signals are bounded,and the system output can be asymptotically tracked to the expected reference signal.The effectiveness of the proposed control scheme is verified by Matlab simulation analysis.

关 键 词：柔性关节机械臂 自适应反步法 LYAPUNOV稳定性 鲁棒性 

分 类 号：O231.2[理学—运筹学与控制论] TP241[理学—数学]