基于自适应时延控制的模型估计误差补偿方法用于机械臂轨迹追踪  

The Model Estimation Error Compensation Method Based on Adaptive Time Delay Control is Applied to the Trajectory Tracking of Manipulator

作　　者：祁崇文 李飞 马立[1] QI Chongwen;LI Fei;MA Li

机构地区：[1]上海大学机电工程与自动化学院

出　　处：《计量与测试技术》2025年第2期58-63,共6页Metrology & Measurement Technique

摘　　要：时延控制器(TDC)在外部扰动变化大的复杂条件下工作时,会存在时延估计(TDE)误差问题,导致控制器性能降低。因此,在时延控制框架中将该误差作为扰动项单独考虑,设计了新型的模型估计误差补偿器(MEC)和一种自适应TDC增益,并分析了观测器和控制器的稳定性。结果表明:该方法不仅提高了控制算法的跟踪精度和鲁棒性,而且在误差补偿方面效果较好。When the time delay controller(TDC) works under the complicated conditions of large external perturbations and changes,there will be the problem of time delay estimation(TDE) error,which leads to the degradation of controller performance.Therefore,a new model estimation error compensator(MEC) and an adaptive TDC gain are designed,and the stability of the observer and controller is analyzed.The results show that this method not only improves the tracking accuracy and robustness of the control algorithm,but also has a good effect on error compensation.

关 键 词：机械臂 时延控制 观测器 滑模控制 

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