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基于扩张状态观测的机器人分散鲁棒跟踪控制
引用本文:陈国栋,贾培发.基于扩张状态观测的机器人分散鲁棒跟踪控制[J].自动化学报,2008,34(7):828-832.
作者姓名:陈国栋  贾培发
作者单位:1.清华大学计算机科学与技术系智能技术与系统国家重点实验室 北京 100084
基金项目:国家高技术研究发展计划(863计划)
摘    要:针对模型不确定性多关节机器人的轨迹跟踪控制问题, 提出一种基于扩张状态观测补偿的关节独立分散鲁棒控制方法. 设计多个并联的扩张状态观测器, 分别对每个独立关节的未知模型动态与外部扰动进行动态估计和补偿, 采取非线性状态反馈控制以提高系统的控制性能. 各个关节的控制完全独立, 因而控制器结构简单、可靠、易于实现. 对所设计的关节分散鲁棒控制器的 Lyapunov 稳定性进行了分析, 证明系统是指数收敛全局一致最终有界稳定的. 对 PUMA560 机械手的大量控制仿真验证了本文方法的有效性.

关 键 词:机器人    扩张状态观测器    自抗扰控制    分散控制    稳定性
收稿时间:2007-1-9
修稿时间:2007-6-5

Robust Decentralized Trajectory Tracking Control of Robot Manipulators Based on Extended State Observer
CHEN Guo-Dong,JIA Pei-Fa.Robust Decentralized Trajectory Tracking Control of Robot Manipulators Based on Extended State Observer[J].Acta Automatica Sinica,2008,34(7):828-832.
Authors:CHEN Guo-Dong  JIA Pei-Fa
Affiliation:1.State Key Laboratory of Intelligent Technology and Systems, Department of Computer Science and Technology, Tsinghua University, Beijing 100084;2.Institute of Ground-based Air Defense Weaponry, Equipment Academy of Air Force, Beijing 100085
Abstract:A detached joint decentralized robust control method based on extended state observation was developed for trajectory tracking control of robot manipulators with model uncertainty.Multiple parallel extended state observers were de- signed for estimation of unknown dynamics and external distur- bance of each joint,and the estimated states were used for non- linear feedback control and compensation to improve system per- formance.Every joint controller is completely detached,so the architecture is simple,reliable,and easy to implement.The Lya- punov stability of the proposed robust decentralized controller is analyzed,and the global uniform ultimate boundedness stability with exponential convergence is proved.The method is validated by simulations of PUMA560 robot manipulator control.
Keywords:Robot  extended state observer (ESO)  autodisturbance-rejection control (ADRC)  decentralized control  stability
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