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基于PD控制的机器人轨迹跟踪性能研究与比较
引用本文:陈启军,王月娟,陈辉堂.基于PD控制的机器人轨迹跟踪性能研究与比较[J].控制与决策,2003,18(1):53-57.
作者姓名:陈启军  王月娟  陈辉堂
作者单位:同济大学,信息与控制工程系,上海,200092
基金项目:国家自然科学基金资助项目 (6 0 0 0 5 0 0 2 )
摘    要:定义同一个Lyapunov函数,分析了基于PD的3种常用机器人轨迹跟踪算法的稳定性和鲁棒性,得到了新的结论,PD加前馈控制按指数收敛到0,PD及修改的PD加前馈控制收敛到一封闭球,增大反馈系数可使球半径任意小,基于PD的轨迹跟踪算法对模型误差及有界不确定性干扰具有鲁棒性,实验研究验证了分析结果,并对3种轨迹跟踪算法的控制性能进行比较。

关 键 词:PD控制  机器人  轨迹跟踪性能  鲁棒性  工业机器人
文章编号:1001-0920(2003)01-0053-05
修稿时间:2001年10月8日

Comparative research of trajectory tracking performance of robotic manipulator based on PD control scheme
of robotic manipulator based on PD control scheme CHEN Qi-jun,WANG Yue-juan,CHEN Hui-tang.Comparative research of trajectory tracking performance of robotic manipulator based on PD control scheme[J].Control and Decision,2003,18(1):53-57.
Authors:of robotic manipulator based on PD control scheme CHEN Qi-jun  WANG Yue-juan  CHEN Hui-tang
Abstract:For the trajectory tracking of robotic manipulator, the stability and robustness of three kinds ofcontrolschemesbasedonPDcontrolareanalyzed.Thetrackingerrors of PD control with feedforward compensation exponentially converge to zero and the tracking errors of PD control and modified PD with feedforward compensation exponentially converge to a closed ball. The ball radius can be set arbitrarily small by increasing feedback gains. These control schemes have robustness to model errors and bounded uncertain disturbances. The experiments of 2 DOF direct driven robotic manipulator demonstrate the control performance.
Keywords:PDcontrol  PD control with feedforward compensation  Exponentially convergence  Robustness
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