| 具有不确定雅可比矩阵机器人的鲁棒非线性PID控制器的抗饱和失效设计 |
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| 引用本文： | 黄春庆,彭侠夫,王军平.具有不确定雅可比矩阵机器人的鲁棒非线性PID控制器的抗饱和失效设计[J].自动化学报,2008,34(9):1114-1122. |
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| 作者姓名： | 黄春庆 彭侠夫 王军平 |
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| 作者单位： | 1.厦门大学自动化系 厦门 361005 |
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| 基金项目： | 国家自然科学基金，教育部高等学校博士学科点专项科研基金 |
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| 摘 要： | 对于雅克比阵不确定的操作机器人笛卡尔空间操作任务, 提出一种鲁棒非线性PID控制器的抗饱和设计方案, 解决了PID控制中的积分饱和问题. 该控制器通过引入有界递增分段连续函数于PID控制器中的积分环节, 限制了积分器的积分作用, 从而克服了积分环节对闭环系统的不利影响: 一方面使得闭环系统是渐进稳定的, 另一方面又保证了其鲁棒性; 特别是, 相比于其它的抗饱和设计方法, 显得更加简单有效.
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| 关 键 词： | 操作机器人 鲁棒非线性PID 抗饱和 鲁棒性 不确定雅克比阵 |
| 收稿时间： | 2007-7-9 |
| 修稿时间： | 2008-2-26 |
Robust Nonlinear PID Controllers for Anti-windup Design of Robot Manipulators with an Uncertain Jacobian Matrix |
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| HUANG Chun-Qing,PENG Xia-Fu,WANG Jun-Ping.Robust Nonlinear PID Controllers for Anti-windup Design of Robot Manipulators with an Uncertain Jacobian Matrix[J].Acta Automatica Sinica,2008,34(9):1114-1122. |
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| Authors: | HUANG Chun-Qing PENG Xia-Fu WANG Jun-Ping |
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| Affiliation: | 1.Department of Automation, Xiamen University, Xiamen 361005, P.R. China2. Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System, Xi'an Jiaotong University, Xi'an 710049, P.R. China |
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| Abstract: | As for Cartesian regulation of robot manipulators with uncertain Jacobian matrix,an anti-windup scheme of robust nonlinear PID(RN-PID)controllers is proposed to solve the practical problems arising from integral action and integrator windup in PID-like control systems.Asymptotic stability is guaranteed while position and joint velocity measurements are only required; robustness of the resulting closed-loop system is also guaranteed due to the constraints acting on integral action.Especially,compared with other anti-windup approachs,the proposed algorithm is simpler and more effective for anti-windup design. |
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| Keywords: | Robot manipulator robust nonlinear PID anti-windup robustness uncertain Jacobian |
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