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| 六自由度并联机器人分散鲁棒非线性控制 | |
| 引用本文： | 赵东亚,李少远,高 峰.六自由度并联机器人分散鲁棒非线性控制[J].控制理论与应用,2008,25(5):867-872. |
| 作者姓名： | 赵东亚 李少远 高 峰 |
| 作者单位： | 1. 上海交通大学,自动化系,上海,200240;中国石油大学,机电工程学院,山东,东营,257061 2. 上海交通大学,自动化系,上海,200240 3. 上海交通大学,机械与动力工程学院,上海,200240 |
| 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，上海市科委资助项目 |
| 摘 要： | 针对六自由度并联机器人动力学特点,提出了一种新型分散鲁棒非线性控制方法.与传统PD控制策略和已有分散鲁棒非线性控制方法相比,由于控制律中增加了广义误差的小数幂项,改进后的方法除保持原方法的优点外,还具有较强的终端收敛能力,能够保证跟踪误差以更快的速度全局一致收敛到一个更小的剩余集.通过选择合适的控制器参数,可使剩余集趋于0.运用Lyapunov方法分析了系统稳定性,给出了系统稳定性条件.最后,仿真结果验证了该方法的有效性. |
| 关 键 词： | 鲁棒控制 分散控制 非线性控制 机器人控制 |
| 收稿时间： | 2007/3/12 0:00:00 |
| 修稿时间： | 2007/12/28 0:00:00 |
Decentralized robust nonlinear control for six-degrees-of-freedom parallel robots |
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| ZHAO Dong-y,LI Shao-yuan and GAO Feng.Decentralized robust nonlinear control for six-degrees-of-freedom parallel robots[J].Control Theory & Applications,2008,25(5):867-872. | |
| Authors: | ZHAO Dong-y LI Shao-yuan and GAO Feng |
| Affiliation: | Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China; College of Mechanical and Electronic Engineering, China University of Petroleum, Dongying Shandong 257061, China;Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China;School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China |
| Abstract: | A new decentralized robust nonlinear control approach is proposed for the six-degrees-of-freedom parallel robot. In comparison with the propotional-differential (PD) and existing robust nonlinear control schemes, the proposed approach shows the strong terminal convergence ability in addition to the advantages of the existing robust nonlinear control scheme. This approach guarantees faster convergence and higher tracking precision than the existing ones. By selecting appropriate parameters of the controller, the residual set will approach to zero. The stabilized conditions and corresponding proof are also presented. Simulation results are demonstrated in support of the proposed control scheme. |
| Keywords: | robust control decentralized control nonlinear control robot control |
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