受干扰机器人网络控制系统事件驱动控制研究

针对受干扰的机器人网络控制系统，结合干扰观测器和事件触发机制，设计了一种事件驱动控制方法, 在考虑网络中存在随机时延的同时，对干扰进行补偿。事件驱动能够大大减少网络阻塞和控制器的计算负担，节约网络通信信道带宽。控制器在判定被控机器人的输出误差是否满足预设事件的同时，接收到来自干扰观测器的干扰观测值，当控制器判定系统输出误差不满足预设事件时，控制器利用系统输出误差和干扰观测值，计算出新的控制输入来替换原来的控制输入信号，否则控制器保持上一时刻的控制输入。理论证明了机器人网络控制系统的稳定性与收敛性。最后以双关节机器人网络控制系统为例进行仿真，其结果表明，该方法能够对外部干扰进行观测，使被控机器人在受到外部干扰以及网络时延的影响下仍具有良好的位置跟踪效果。

Event Driven Control for Robot Networked Control System with Disturbance

An event driven control method was designed for the disturbed robot networked control system, which combined the disturbance observer and event-triggered mechanism. The disturbance was compensated and the random time delay in the network was considered as well. Event driven can greatly reduce the network congestion and the computing burden of the controller, saving the communication channel bandwidth. When the controller determined whether the output error of the controlled robot met the preset event or not, it received the disturbance observation value from the disturbance observer at the same time. When the system output error did not meet the preset event, the controller used the system output error and disturbance observation value to calculate a new control input to replace the original control input signal; otherwise, the controller maintained the previous control input. The stability and convergence of the robot networked control system were proved. Finally, simulations were conducted on the network control system of a two-joint robot. The results show that the proposed method can observe the external disturbance, and hence, the controlled robot has good position tracking performance under the influence of disturbance and random network delay.