基于干扰观测器的机械臂预设性能固定时间滑模控制  

Prescribed Performance Fixed-time Control of Manipulator Based on Disturbance Observer

作　　者：代庚炜 王树波 DAI Gengwei;WANG Shubo(College of Automation,Qingdao University,Qingdao 266071,China;Shandong 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：《探测与控制学报》2024年第6期109-116,125,共9页Journal of Detection & Control

基　　金：国家自然科学面上项目(62173194);山东省优秀青年基金项目(ZR2021YQ41)。

摘　　要：针对多自由度机械臂系统存在的外部扰动、内部参数不确定性及跟踪误差约束问题,设计了一种基于非线性干扰观测器补偿的机械臂预设性能固定时间滑模控制策略。首先,通过非线性干扰观测器来估计外部扰动和系统内部不确定性,将观测器估计出的总扰动代入控制器实现前馈补偿;其次,采用基于预设性能函数的误差转换技术,将跟踪误差约束在预先设定好的范围内,解决误差约束问题,并提升系统的稳态性能与暂态性能;最后,基于转换后的误差设计了固定时间非奇异终端滑模控制器,并使用Lyapunov稳定性判据证明了系统固定时间收敛性。通过仿真实验对比几种常见的控制方法,验证了该控制方法能提升系统的控制性能。In order to solve the problems of external disturbance,internal parameter uncertainty and tracking error constraint in the multi-degree-of-freedom manipulator system,a prescribed performance fixed-time sliding mode control tactics based on disturbance observer was devised.Firstly,by using the disturbance observer,the external uncertainty and internal uncertainties of the system were estimated,and the total disturbance estimated by the observer was brought into the controller to achieve feed-forward compensation.Secondly,the error conversion technology based on the preset performance function was adopted to constrain the tracking error within the preset range,which solved the error constraint problem and hoists the steady-state performance and transient performance of the total system.Then,a fixed-time sliding mode controller was designed based on the converted error,and using the Lyapunov stability theory to confirm the fixed-time convergence of the system.Finally,simulations were implemented to compare several common control methods,which verified that control method devised by this paper could hoist the control performance of the system.

关 键 词：机械臂系统 轨迹跟踪 固定时间控制 误差约束 干扰观测器 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]