摘要
针对具有输入饱和、模型不确定以及外部扰动的柔性关节机械臂系统,提出一种自抗扰预设定有限时间跟踪控制的方法。该方法通过引入性能函数,将机械臂系统的跟踪误差限制在预定的边界,并通过一阶动态系统来逼近输入饱和函数,利用扩张状态观测器估计不确定性的未知函数,利用跟踪微分器获得虚拟控制信号来避免微分爆炸。控制器设计保证机械臂系统的跟踪误差在指定的有限时间内收敛,闭环系统所有信号一致有界。采用自抗扰策略使控制器具有很强的抗干扰性,然后利用MATLAB软件仿真验证了该控制方法的合理性。
Aiming at the flexible joint manipulator system with input saturation,model uncertainty and external disturbance,an active disturbance rejection preset finite time tracking control method is proposed.This method limits the tracking error of the manipulator system to a predetermined boundary by introducing a performance function,and approximates the input saturation function by a first-order dynamic system.The unknown function of uncertainty is estimated by the extended state observer,and the virtual control signal is obtained by the tracking differentiator to avoid differential explosion.The controller design ensures that the tracking error of the manipulator system converges within a specified limited time,and all signals of the closed-loop system are uniformly bounded.The ADRC strategy is adopted to make the controller have strong anti-interference.The rationality of the control method is verified by MATLAB software simulation.
作者
王欢
董玉春
白彦霞
郭亚鹏
WANG Huan;DONG Yuchun;BAI Yanxia;GUO Yapeng(School of Intelligent Engineering,Yanjing Institute of Technology,Langfang,Hebei 065201,China)
出处
《自动化应用》
2024年第13期59-64,共6页
Automation Application
基金
廊坊市科技支撑计划项目(2023011101)。
关键词
柔性机械臂
有限时间控制
输入饱和
预设性能
flexible manipulator
finite time control
input saturation
prescribed performance
