摘要
针对外部干扰情况下的柔性关节机械臂非线性动力学模型,提出一种基于反演设计思想的递阶控制策略。把电机的输出角度向量作为关节子系统的控制变量,设计虚拟电机角度向量实现关节轨迹跟踪,同时在反演正定函数中综合积分项消除轨迹跟踪误差。计算实际的关节电机输出力矩,使电机输出角度跟踪虚拟控制量,通过设计自适应滑模变结构控制器消除系统不确定因素的影响。基于李雅普络夫稳定性理论证明系统的稳定性和轨迹跟踪误差的收敛性。
A backstepping sliding mode control strategy was proposed for the control of nonlinear dynamic system of a robot manipulator with flexible joints with external disturbance. The controller took the output angle vector of motor as control variables of joint＇s subsystem to realize the tracking trajectory control with angle vector of virtual machine, while the trajectory error was eliminated by comprehensive integral item in inversion stabilization function. The actual output torque was calculated thus the output angle of motor can track the virtual control volume, and the influence of system uncertainty was eliminated by design an adaptive sliding mode variable structure controller. The stability of the system and the convergence of trajectory tracking error were certified based on Lyapunov stability theory.
出处
《机械科学与技术》
CSCD
北大核心
2014年第1期22-26,共5页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金项目(51175001
51275001)
安徽省自然科学研究计划项目(KJ2012A033)资助
关键词
柔性关节机械臂
反演控制
李雅普络夫法
轨迹跟踪控制
backstepping
computer simulation
design
errors
Lyapunov functions
Lyapunov methods
manipula- tors
sliding mode control
stability
tracking （position）
trajectories
variable structure control
veloc- ity
flexible-joint manipulator
backstepping control
trajectory tracking control
