摘要
针对传统的机械臂控制算法存在控制精度不高,对于外界干扰鲁棒性较弱等问题,提出了带干扰观测器的加幂积分有限时间控制算法实现机器人轨迹跟踪控制。加幂积分有限时间控制器能够保证系统误差在有限时间内收敛,从而使机械臂能够快速准确跟随期望运动轨迹。干扰观测器能够快速准确地估计作用在机械臂上的干扰信号,并通过补偿控制对干扰进行补偿,从而增强系统的鲁棒性。同时,采用Lyapunov理论在理论上证明了上述系统能够在有限时间内收敛。最后,对三自由度Premium机械臂设计了带干扰观测器的加幂积分有限时间控制器,并进行了实验。实验结果表明所提算法能够使机械臂关节能够快速准确的跟随期望值,对外加干扰有较强的鲁棒性。
It is difficult using the manipulator to achieve precise trajectory tracking and good robustness with tradi⁃tional algorithms.In order to solve this problem,a finite time control algorithm based on adding a power integrator with disturbance observer was designed.The finite time control algorithm was based on adding a power integrator en⁃sures fast tracking performance.The disturbance observer can estimate the actual disturbances on the manipulator and compensate these disturbances in order to improve system robustness.Lyapunov theory was used to prove the system error converges to zero within finite time.The algorithm was applied to a Premium manipulator with 3 DOFs for simu⁃lation experiment.The simulation results show that the proposed algorithm can make the manipulator track the expec⁃ted trajectory fast and accurately.The system shows strong robustness to external interference.
作者
胡凌燕
杨瑨
熊鹏文
赵树兵
HU Ling-yan;YANG Jin;XIONG Peng-wen;ZHAO Shu-bing(School of Information Engineering,Nanchang University,Nanchang Jiangxi 330031;Jinan Railway Branch Vehicle Equipment Division,Jinan Shandong 250001)
出处
《计算机仿真》
北大核心
2020年第9期272-276,342,共6页
Computer Simulation
基金
国家自然科学基金资助项(61563035,81501560,61662044,61663027)
江西省科技厅资助(20171BCB23008,20171ACB20007)。
