陶瓷取坯机械手H_∞鲁棒自适应跟踪控制  

ROBUST H_∞ ADAPTIVE CONTROL FOR CERAMIC MANIPULATOR

作　　者：朱永红[1] 胡鸿豪[1] 

机构地区：[1]景德镇陶瓷学院

出　　处：《陶瓷学报》2002年第4期221-225,共5页Journal of Ceramics

摘　　要：针对具有不确定和干扰输入的二自由度电动陶瓷取坯机械手系统 ,基于李雅普诺夫函数递推设计方法设计了H∞ 鲁棒自适应跟踪控制器。该控制器不仅可保证跟踪误差闭环系统的一致有界稳定性 ,而且使得由干扰力矩到跟踪误差评价信号的L2 增益小于给定的值。同时本文也提出了不同求解HJI不等式设计陶瓷取坯机械手H∞ 鲁棒控制器的方法。仿真结果表明 ,所设计的控制器具有良好的跟踪性能和较强的鲁棒自适应性。Based on Lyapunov backstepping design,a robust H ∞ adaptive controller for 2 degree of freedom electrically-driven ceramic manipulator with uncertainty and disturbance is derived.The tracking performance is evaluated by L 2-gain form a torque level disturbance signal to penalty singal of the tracking error between outputs of the manipulator and desired trajectories.The controller designed guarantees that the tracking error closed-loop system is globally stable in the sense of uniform ultimate bounded stability and L 2-gain is not large than a prescribed value.Our approach provides a closed-form solution for ceramic manipulator H ∞ adaptive control problem without solving Hamilton-Jacobi-Issac(HJI) inequality.Simulation results shows that the controller exhibits an excellent tracking performance and adaptive robustness.

关 键 词：递推设计 陶瓷 取坯 机械手 H∞鲁棒自适应跟踪控制 

分 类 号：TQ174.62[化学工程—陶瓷工业] TP2[化学工程—硅酸盐工业]