基于观测器的人在环多机械臂系统预设性能二分一致性  

Observer-based Prescribed Performance Bipartite Consensus for Human-in-the-loop Multi-manipulator Systems

作　　者：刘沛明 郭祥贵 LIU Pei-Ming;GUO Xiang-Gui(School of Automation and Electrical Engineering,University of Science and Technology Beijing,Beijing 100083;Beijing Engineering Research Center of Industrial Spectrum Imaging,Beijing 100083)

机构地区：[1]北京科技大学自动化学院,北京100083 [2]北京市工业波谱成像工程技术研究中心,北京100083

出　　处：《自动化学报》2024年第9期1761-1771,共11页Acta Automatica Sinica

基　　金：雄安新区科技创新专项(2023XAGG0062);国家自然科学基金(62173028,62233015);广东省基础与应用基础研究基金(2024A1515011493);北京自然科学基金(4232060,IS23065)资助。

摘　　要：研究通讯拓扑为符号有向图的人在环多机械臂系统的预设性能二分一致性跟踪控制问题.为在预设时间内收敛到预设精度,提出一种基于观测器的预设性能控制策略.首先,设计预设时间和精度的观测器以估计领导者的输出信息,通过合作/竞争信息交互实现观测器输出的二分一致性.该观测器不需要领导机械臂的输入信息及输出信息的高阶导数,并通过无芝诺行为的事件触发机制降低不同机械臂间的通讯负担.其次,通过反步法及误差转化法将有约束的机械臂输出跟踪问题转化为无约束的误差系统稳定性问题,进而基于观测器输出设计机械臂的输出调节控制器.值得一提的是,设计的控制策略不需要系统初始状态的先验知识且避免了预设时刻控制增益无穷大的现象,增强了系统的可靠性.最后,仿真结果表明所提控制策略的可行性及优越性.This paper investigates the problem of prescribed performance bipartite consensus tracking control of a class of human-in-the-loop multi-manipulator systems with communication topology represented by a signed directed graph.In order to converge to a prescribed accuracy within a prescribed time,an observer-based prescribed performance control strategy is proposed.First,a prescribed-time and prescribed-accuracy observer is designed to estimate the leader's output information.Meanwhile,the bipartite consensus of observer outputs is achieved through cooperation/competition information exchange.Notably,the designed observer does not require inputs and higherorder derivatives of outputs of the leader manipulator.In addition,an event-triggered mechanism without Zeno behavior is adopted to reduce the communication burden among different manipulators.Second,the constrained output tracking problem for manipulator systems is transformed into an unconstrained stability problem for error systems by using backstepping and error transformation techniques.Subsequently,an output regulation controller for manipulator systems is designed based on observer outputs.It is worth mentioning that the proposed control strategy does not necessitate prior knowledge of the system's initial states and avoids the issue of infinite control gains at prescribed time,thereby enhancing the system's reliability.Finally,simulation results demonstrate the feasibility and superiority of the proposed control strategy.

关 键 词：多机械臂系统 二分一致性 预设时间和精度 人在环控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TP241[自动化与计算机技术—控制科学与工程]