具有输入缓冲的机械臂预设定有限时间跟踪控制  

Prescribed finite-time tracking control with input buffer for a manipulator system

作　　者：沈鹏 李小华[2] 刘辉 SHEN Peng;LI Xiao-hua;LIU Hui(School of Applied Technology,University of Science and Technology Liaoning,Anshan 114051,China;School of Electronic and Information Engineering,University of Science and Technology Liaoning,Anshan 114051,China)

机构地区：[1]辽宁科技大学应用技术学院,辽宁鞍山114051 [2]辽宁科技大学电子与信息工程学院,辽宁鞍山114051

出　　处：《吉林大学学报(工学版)》2025年第1期63-73,共11页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家自然科学基金联合基金项目(U21A20483);吉林大学汽车仿真与控制国家重点实验室开放基金项目(20210219)。

摘　　要：针对连杆机械臂系统具有输入缓冲的预设定有限时间轨迹跟踪控制问题,首先,应用反步法设计了系统的预设定有限时间轨迹跟踪控制器,提出了一种性能调节更加灵活的预设有限时间性能函数,借助该函数对轨迹跟踪误差进行约束控制律设计,可使机械臂轨迹跟踪控制过程在相同参数条件下获得比已有的预设有限时间性能函数更好的暂态性能。其次,设计了控制输入缓冲函数,既解决了机械臂初始位置误差过大造成控制输入过电压的问题,又解决了机械臂系统在重载情况下难以启动的问题。最后,仿真试验证明了本文控制器的有效性和优越性。Facing the prescribed finite-time trajectory tracking control problem with input buffer for a linkage manipulator system,the backstepping method is used to design the prescribed finite-time trajectory tracking controller.A new prescribed finite-time performance function is proposed,which can more easily regulate control performance.With the help of this performance function,a constraint control law is designed for the tracking error,and a better transient performance than the existing prescribed finite-time performance function can be obtained under the same parameter conditions for the trajectory tracking process of the manipulator system.At the same time,a control input buffer function is designed,which solves both the overvoltage problem of control input caused by the overlarge position error of the manipulator and the problem that the manipulator system is difficult to start under heavy load.The simulation experiments verify the effectiveness and superiority of the proposed controller.

关 键 词：控制工程 缓冲函数 机械臂系统 预设有限时间性能函数 自适应控制 轨迹跟踪控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]