基于动态观测器的不确定机器人鲁棒控制研究

针对仅有精确位置测量的机器人系统，在系统参数不确定和有界干扰并存的情况下，提出一种基于速度观测的鲁棒控制方案。在滑模观测器设计中引入补偿项，动态抵消系统偏差对速度重构的影响，确保观测误差指数收敛到有界域。采用Lyapunov直接法设计基于标称模型和观测速度的鲁棒控制律，使系统闭环满足局部一致最终有界收敛。最终以两关节平面机器人的仿真验证了所提方案的有效性。

A Study on the Uncertain Robust Control of Robot Based on Dynamic Observer

With parameter inaccuracies and bounded disturbances, a robust control scheme based on velocity observations was proposed for robot systems in which only the positions can be precisely measured. By the introduction of a compensation term in the design of the sliding mode observer that counteracts the effect of system deviations to the velocity reconstruction, the exponential observation error is converged to a bounded region. Using the Lyapunov direct method in designing the robust control laws based on the normal model and observed velocity, the closed-loop system satisfies the local uniform ultimate boundedness. The effectiveness of the proposed scheme is verified through simulation studies on a 2D of planar robot.