摘要
针对机器人面临参数不确定性、复杂执行器非线性及控制器脆弱性的问题,提出了一种基于多项式平方和(sum-of-squares,SOS)理论的变参数滑模非脆弱控制(parameter-varying sliding non-fragile control,PSNC)策略。首先,建立了具有复杂执行器非线性的机器人数学模型;其次,设计了一种新型伪奇异非脆弱保性能滑模面(non-fragile guaranteed cost sliding surface,NGCSS),基于等效控制法推导了最优保性能滑模面存在的充分条件;最后,设计了非脆弱滑模自适应控制律,并基于Lyapunov方法对闭环系统的稳定性进行了分析。仿真结果表明,该控制器能够使机器人在复杂执行器非线性、控制器摄动和外部干扰作用下,快速、精确地跟踪期望轨迹,体现出了良好的鲁棒性和非脆弱性。
A parameter-varying sliding non-fragile control(PSNC)strategy based on Sum-of-squares(SOS)is proposed for a class of uncertain robotic systems subject to complex actuator nonlinearities and controller fragility.Firstly,a mathematical model of the robot with complex actuator nonlinearity is established.Secondly,a novel pseudo-singular non-fragile guaranteed cost sliding surface(NGCSS)is designed,and the sufficient conditions for the existence of the optimal guaranteed sliding surface are derived based on the equivalent control method.Finally,the non-fragile sliding adaptive control law is designed,and the closed-loop system stability is analyzed based on the Lyapunov method.Simulation results demonstrate that the proposed approach can make the robot track the reference trajectory quickly and accurately in the presence of the complex actuator nonlinearity,controller perturbation,and external interference,which shows good robustness and non-fragility.
作者
李智
刘树博
张志远
LI Zhi;LIU Shubo;ZHANG Zhiyuan(Jiangxi Industrial Technology Research Institute of Rehabilitation Assistance,East China University of Technology,Nanchang 330013,China;School of Mechanical and Electronic Engineering,East China University of Technology,Nanchang 330013,China)
出处
《控制工程》
CSCD
北大核心
2024年第2期375-384,共10页
Control Engineering of China
基金
国家自然科学基金资助项目(62141102)
江西省自然科学基金资助项目(20202BAB202008)
江西省研究生创新基金资助项目(YC2022-s616)
东华理工大学实验技术研究开发项目(1310610085)。
