基于状态约束的柔性关节机械臂指令滤波控制  

State Constraints Based Command Filter Control for Flexible Joint Manipulators

作　　者：朱钰 于金鹏[1,2] 刘加朋 于海生 ZHU Yu;YU Jinpeng;LIU Jiapeng;YU Haisheng(College of Automation,Qingdao University,Qingdao 266071,China;Shandong Provincial Key Laboratory of Industrial Control Technology,Qingdao 266071,China)

机构地区：[1]青岛大学自动化学院,山东青岛266071 [2]山东省工业控制技术重点实验室,山东青岛266071

出　　处：《控制工程》2024年第6期1012-1017,共6页Control Engineering of China

基　　金：国家重点研发计划资助项目(2017YFB1303503);国家自然科学基金资助项目(61973179);泰山学者工程专项经费资助项目(TSQN20161026);青岛市重点研发专项(21-1-2-6-nsh)。

摘　　要：针对单连杆柔性关节机械臂系统,研究了全状态约束条件下机械臂末端位置的跟踪控制问题。利用障碍李雅普诺夫函数约束柔性关节机械臂的关节角位置和电机转角位置等状态变量的幅值,保证所有状态变量不会超出给定的限制区域。在此基础上,通过引入带有误差补偿的指令滤波控制技术克服了传统反步法存在的计算爆炸问题,设计了基于状态约束的指令滤波反步控制器。最后,基于李雅普诺夫稳定性理论证明了柔性关节机械臂系统的稳定性,并通过仿真实验验证了所设计的控制器能够有效保证系统的状态约束性能和位置跟踪精度。The position tracking control of flexible joint manipulator(FJM)systems with full state constraints is studied.The barrier Lyapunov function is used to constrain the amplitudes of the state variables such as the joint position and the motor angle position of the FJMs to ensure that all the state variables do not exceed the given limit region.On this basis,by introducing the command filter control(CFC)technology with error compensation,the problem of computational explosion existing in the traditional backstepping method is overcome,and the command filter backstepping controller based on state constraints is designed.Finally,the stability of the flexible joint manipulator system is proved based on the Lyapunov stability theorem,and the simulation results showed that the designed controller can effectively ensure the state constraint performance and position tracking accuracy of the system.

关 键 词：状态约束 柔性关节机械臂 指令滤波控制 障碍李雅普诺夫函数 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]