一种机器人轨迹的鲁棒跟踪控制

把基于拉格朗日方程的n关节机器人动力学模型,转化成了一线性状态方程.基于这种线性状态方程,利用李雅普诺夫函数方法分别针对机器人标称模型和有外界不确定性干扰时,设计前馈控制器和反馈控制器,使得机器人的实际运动轨迹在标称模型下,指数收敛于所给定的期望运动轨迹;在有外界不确定性干扰时,它与期望轨迹的误差是终值有界的.并且,针对后者所提出的控制律进行仿真.仿真结果表明,这种连续鲁棒控制律对于机器人系统存在外界不确定性干扰时是十分有效的.

Robust Tracking Control for a Kind of Robot Traces

The n-joint robot dynamical model based on the Lagrange equation is transformed into a linear state equation.By using the Lyapunov function methods,a feed-forward controller and a feedback controller are designed for the nominal system and the system with external-uncertain disturbances respectively.The feed-forward controller makes the practical robot trace in nominal system converge to the desired one with an exponential convergence rate,while the feedback controller makes the error be bounded in terminal value under the condition of external-uncertain disturbances.The simulation shows that the continuous robust feedback controller is very effective in the presence of external-uncertain disturbances.