一种采用观测器的机器人变结构控制算法

本文针对仅有关节位置检测的关节型机器人,提出了一种考虑参数不确定性和状态不确 定性的变结构轨线跟踪控制算法.通过对两种不同类型观测器(线性反馈和变结构反馈)的研 究,用定理形式给出了由机器人、观测器和控制器组成的闭环系统渐近稳定的充分条件.非线 性滑动域替代线性滑动面取得了控制精度和控制平稳性的折衷.在作者自行研制的直接驱动 机器人DDR-1的实验中证实了这种算法的有效性.

Observer Based Variable Structure Control Algorithm for Robot Manipulator

This paper proposes a variable structure trajectory tracking control algorithm by using only joint position measurements, which can treat both states and parameter uncertainties. On the basis of investigations on two types of observers (linear feedback type and sliding mode type), the theorem of this paper gives the sufficient conditions to ensure the asymptotic stability of a closed-loop system composed of robot, observer, and controller. Nonlinear sliding area is substituted for linear sliding surface to make the trade-off between control accuracy and control continuity. The experiment results carried out on a direct driven robot DDR-1, which is developed in our laboratory, verify the validity of this algorithm.