多轴机器人系统输出反馈有限时间同步位置控制  

Global Output Feedback Finite-Time Synchronization Regulation of Robot Manipulators Using Only Position Measurements

作　　者：季祥 王海红[3] 翟天嵩 屈保中[2] 李鹏[1] JI Xiang;WANG Haihong;ZHAI Tiansong;QU Baozhong;LI Peng(School of Electro-Mechanical Engineering,Xidian University,Xi’an 710071,Shaanxi,China;School of Automation Engineering,Henan Polytechnic Institute,Nanyang 473000,Henan,China;School of Intelligent Manufacturing,Nanyang Institute of Technology,Nanyang 473004,Henan,China)

机构地区：[1]西安电子科技大学机电工程学院,陕西西安710071 [2]河南工业职业技术学院自动化工程学院,河南南阳473000 [3]南阳理工学院智能制造学院,河南南阳473004

出　　处：《华南理工大学学报（自然科学版）》2023年第9期56-68,共13页Journal of South China University of Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(61971334,51875431);河南省科技攻关项目(212102210368);河南省高校大学生创新创业训练计划项目(202211653008);南阳理工学院博士科研启动基金资助项目(NGBJ-2019-08)。

摘　　要：机器人的位置控制是机器人控制领域最基本、最简单的目标。针对多轴机器人系统的高精度位置控制问题,文中结合交叉耦合技术,提出一种输出反馈非线性PD加重力补偿(PD+)同步位置控制器,应用Lyapunov稳定性理论和几何齐次性技术严格证明了闭环系统的全局有限时间稳定性。相比于渐近稳定的全状态反馈控制,所提出的控制器能实现只基于位置测量的多轴机器人系统输出反馈有限时间稳定位置控制;相比于渐近稳定的输出反馈控制,所提出的控制器能实现系统状态的有限时间稳定;相比于不含同步控制项的输出反馈控制,非线性同步控制项的恰当引入使得所提出的控制器能在保证多轴机器人系统的高精度位置控制的前提下,兼顾各轴间的同步协调运动。所提出的控制器具有结构简单、易于实现、更快响应速度和更好系统整体性能等优点,满足生产实际对机器人系统的高精度要求。数值仿真结果验证了所提出的控制算法的有效性和期望系统性能。所提出的控制方法不仅保证了多轴机器人系统的输出反馈全局有限时间稳定同步控制,同时也为一大类非线性二阶系统的输出反馈同步位置镇定提供了一种有效的替代方法。The position control of robot manipulators has been recognized as the most fundamental and simplest objective in the robotic control field.For the high-precision position control problem of the multi-axis robot system,this study proposed a simple output feedback nonlinear PD plus gravity compensation(PD+)synchronization position controller combining with the cross-coupling techniques.The global finite-time stability of closed-loop systems was strictly demonstrated by applying Lyapunov stability theory and geometric homogeneity techniques.Compared with the asymptotic stable full-states feedback control schemes,the presented controller ensures the finite-time stability of the robot manipulators with position measurements only;compared with the output feedback asymptotic stable controllers,the proposed controller ensures the finite-time convergence of robot’s states;compared with the output feedback controllers without synchronization term,the proper introduction of nonlinear synchronization control items enables the proposed controller to take into account the synchronous and coordinated motion between the axes on the premise of ensuring the high-precision position control of the multi-axis robot system.The proposed controller has the advantages of simple structure,easy implementation,faster response speed and better overall system performance,which meets the high precision requirements of actual production for the robot system.Numerical simulation results demonstrate the effectiveness of the proposed control algorithm and the expected performance of the system.The proposed control method not only ensures the global output feedback finite-time stable synchronization control of multi-axes robot systems,but also provides an effective alternative approach for the output feedback synchronization position stabilization of a large class of nonlinear second-order systems.

关 键 词：机器人系统 输出反馈控制 位置控制 同步控制 全局有限时间稳定性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]