基于自适应鲁棒的机械臂轨迹跟踪控制  

Adaptive Robustness-Based Trajectory Tracking Control for Manipulator

作　　者：赵化民 吕成兴 陈健 ZHAO Hua-min;LV Cheng-xing;CHEN Jian(School of Information and Control Engineering,Qingdao University of Technology,Qingdao Shandong 266520,China)

机构地区：[1]青岛理工大学信息与控制工程学院,山东青岛266520

出　　处：《计算机仿真》2023年第8期435-439,499,共6页Computer Simulation

基　　金：国家自然科学基金项目(61803220);山东省重点研发计划(重大科技创新工程)(2022CXGC010608)。

摘　　要：针对机械臂受到复杂时变扰动时的高精度轨迹跟踪问题,提出了一种带扰动观测器的机械臂自适应鲁棒轨迹跟踪控制策略。首先使用反步法设计含有摩擦模型的机械臂轨迹跟踪控制器,然后为解决虚拟控制输入的复杂求导问题引用一阶滤波器。针对时变扰动会影响跟踪精度问题,设计扰动观测器对外部复合扰动进行在线观测,设计了自适应律更新观测器参数,增强了系统的鲁棒性。通过李雅普诺夫稳定性理论证明了系统半全局渐近稳定。仿真结果表明,机械臂能够很好的克服外部扰动且快速准确地进行轨迹跟踪,上述控制方案有效地提高了系统跟踪精度。For the high-accuracy trajectory tracking problem of robotic arms under complex time-varying disturbances,an adaptive robust trajectory tracking control strategy for the manipulator with a disturbance observer is proposed in this paper.Firstly,a manipulator trajectory controller with friction model was designed using the backstepping method,and a first-order filter was invoked to solve the complex derivation problem of the virtual control input.Then,for the time-varying disturbances,a disturbance observer was designed to observe the external compound disturbances online.An adaptive law was designed to update the parameters of the observer,which enhances the robustness of the system.The system is proved to be semi-globally asymptotically stable by the Lyapunov theory.The simulation results show that the manipulator can overcome the external disturbances well and track the trajectory quickly and accurately,and the control scheme effectively improves the tracking accuracy of the system.

关 键 词：机械臂 扰动观测器 反步控制 自适应控制律 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]