非线性不确定机器人复合滑模非脆弱H_(∞)位/力控制  

Composite Sliding Non-Fragile H_(∞)Position/Force Control for Nonlinear Uncertain Robot

作　　者：刘树博[1,2] 李智 赖招宇 罗先喜[1,2] 李跃忠[1,2] 刘建文 LIU Shubo;LI Zhi;LAI Zhaoyu;LUO Xianxi;LI Yuezhong;LIU Jianwen(Jiangxi Industrial Technology Research Institute of Rehabilitation Assistance,East China University of Technology,Nanchang 330013,China;School of Mechanical and Electronic Engineering,East China University of Technology,Nanchang 330013,China)

机构地区：[1]东华理工大学江西省康复辅具产业技术研究院,南昌330013 [2]东华理工大学机械与电子工程学院,南昌330013

出　　处：《组合机床与自动化加工技术》2023年第11期100-106,共7页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金资助项目(62141102);江西省自然科学基金资助项目(20202BAB202008);江西省重点研发计划项目(20212BBE53033);教育部第二批协同育人项目(202102405010);江西省研究生创新专项基金资助项目(YC2022-s616)。

摘　　要：针对非线性不确定机器人面临参数不确定性、控制器增益摄动及外界干扰的问题,在其终端受环境约束的情况下,提出一种基于多项式平方和(sum of squares,SOS)理论的复合滑模非脆弱H_(∞)(composite sliding non-fragile H_(∞),CSNH)位/力控制策略。首先,建立了机器人降阶动力模型和误差状态空间模型。其次,根据所提的复合位/力滑模面,基于Lyapunov稳定性理论设计一种具有H_(∞)扰动抑制的非线性变参数滑模非脆弱状态反馈控制器,给出控制器存在条件和求解方法。仿真结果表明,CSNH控制能够在不确定性和外部干扰作用下,使机器人快速、精确地跟踪位/力指令,体现出了良好的鲁棒性、抗干扰性及非脆弱性。For the nonlinear uncertain robot faced with parameter uncertainty,controller gain perturbation and external disturbance,a composite sliding non-fragile H_(∞)(CSNH)position/force strategy based on SOS(sum-of-squares)theory is proposed when its terminal is constrained by the environment.Firstly,the reduced order dynamic model and error state-space model of the robot are established.Secondly,a nonlinear variable parameter sliding non-fragile state feedback controller with H_(∞)disturbance attenuation is designed based on Lyapunov stability theory according to the proposed composite position/force sliding surface,presenting the existence conditions and solution methods of the controller.The simulation results demonstrate that CSNH control can make the robot track the position/force commands quickly and accurately under uncertainty and external interference,showing good robustness,anti-interfere performance and non-fragility.

关 键 词：非线性不确定机器人 多项式平方和 滑模非脆弱控制 位/力跟踪 H_(∞)扰动抑制 

分 类 号：TH165[机械工程—机械制造及自动化] TG68[金属学及工艺—金属切削加工及机床]