考虑输入饱和的不确定机械臂系统固定时间阻抗控制  

Fixed time impedance control for uncertain manipulator systems with input saturation

作　　者：周玥欣 于金鹏[1] 刘加朋 宿俊浩 于海生[1] ZHOU Yue-xin;YU Jin-peng;LIU Jia-peng;SU Jun-hao;YU Hai-sheng(School of Automation,Qingdao University,Qingdao 266071,China)

机构地区：[1]青岛大学自动化学院,山东青岛266071

出　　处：《控制与决策》2024年第12期3919-3926,共8页Control and Decision

基　　金：教育部“长江学者奖励计划”特聘教授项目(T2022265);山东省重大专项项目(2022CXGC020901)。

摘　　要：针对机械臂系统力/位混合控制问题,提出一种固定时间模糊自适应阻抗控制方法.首先,利用固定时间自适应模糊反步法处理机械臂系统的未建模动态;其次,构造固定时间命令滤波器实现对虚拟控制函数的有效逼近,并引入误差补偿机制消除滤波误差;同时,设计固定时间抗饱和器消除饱和对系统性能的影响,稳定性分析表明闭环系统所有信号都是固定时间有界的;最后,通过仿真实验验证了所提出的控制策略的有效性.A fixed-time fuzzy adaptive impedance control method is proposed to solve the problem of force/position hybrid control for manipulator systems.Firstly,the unmodeled dynamics of the manipulator system are processed by combining the adaptive fuzzy and fixed time backstepping method.Then,the virtual control function is approximated effectively by the fixed-time command filter,and the error compensation mechanism is introduced to eliminate the filtering error.At the same time,the fixed time anti-saturator is designed to eliminate the influence of saturation on the system performance.The stability analysis shows that all signals of the closed loop system are fixed time bounded.Finally,the effectiveness of the proposed control strategy is verified by simulation.

关 键 词：输入饱和 机械臂 固定时间稳定 阻抗控制 模糊自适应控制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]