任意初始状态机械臂的保性能预设时间跟踪控制  

Guaranteed Performance Predefined Time Tracking Control for Manipulator with Arbitrary Initial State

作　　者：殷春武[1] 吴岐 杨思逸 周承德 YIN Chunwu;WU Qi;YANG Siyi;ZHOU Chengde(College of Information and Control Engineering,Xi′an University of Architecture and Technology,Xi′an 710055,China;Information and Communication Division of the Staff,Guizhou Provincial Corps of the Chinese People′s Armed Police Force,Guiyang 550000,China)

机构地区：[1]西安建筑科技大学信息与控制工程学院,西安710055 [2]中国人民武装警察部队贵州省总队参谋部信息通信处,贵阳550000

出　　处：《组合机床与自动化加工技术》2025年第3期103-108,113,共7页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金青年科学基金项目(61803293);陕西省大学生创新创业训练计划项目(S202310703114);信息融合技术教育部重点实验室项目(LIFT-2024001)。

摘　　要：为解决预设性能控制中性能约束函数的参数设置受系统状态初值影响的问题,为任意初值下的机械臂系统设计了一种收敛时间和瞬态性能可预设的反演控制算法。通过引入预设时间收敛误差转换函数,将任意初值下的轨迹跟踪误差转换成初值在原点、且可在预设时间内收敛到实际跟踪误差的新变量,给出收敛时间可任意设置的预设时间收敛Lyapunov稳定判据,采用扩张状态观测器估计系统不确定部分,基于新变量设计反演控制算法,使机械臂轨迹跟踪误差满足有限时间性能约束函数的预设瞬态性能和稳态精度,理论证明了闭环系统的预设时间稳定。仿真结果表明,所设计的控制器能使任意初始位置的机械臂轨迹跟踪误差在预设时间内按照给定性能约束收敛,且具有较强的鲁棒性。To solve the problem that the parameter settings of the performance constraint function in prescribed performance control are affected by the initial values of the system state,a backstepping control algorithm is designed for the manipulator trajectory tracking control system under arbitrary initial value,in which,the convergence time and the transient performance of tracking error can be preset.By introducing a predefined time convergence error conversion function,the trajectory tracking error at arbitrary initial value is transformed into a new variable whose initial value is at the origin and can converge to the actual tracking error within the predefined time.The Lyapunov stability criterion of predefined time convergence is given,an extended state observer is used to estimate the uncertain part of the manipulator system.The backstepping control algorithm is designed,so that the trajectory tracking error of the manipulator satisfies the preset transient performance and steady-state accuracy of the finite time performance constraint function,and the predefined time stability of closed-loop system are proved strictly theoretically.The simulation results show that the designed controller can make the trajectory tracking error of the manipulator at arbitrary initial position converge within the predefined time according to the given performance constraints,and has strong robustness.

关 键 词：机械臂 轨迹跟踪控制 预设性能控制 预设时间控制 扩展状态观测器 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]