基于一阶不确定项估计律的机械臂鲁棒控制研究

针对多自由度机械臂控制系统的模型参数误差、关节摩擦力以及外部输入扰动等不确定项,设计了一类一阶误差估计律;结合基于机构动力学名义模型的输入输出反馈线性化控制算法,对六自由度刚性机械臂的时变轨迹跟踪控制进行了研究,理论上证明了设计的鲁棒控制器是全局渐进稳定的.仿真结果表明该控制策略对系统的各类不确定项具有很好的鲁棒性,能够实现高精度的轨迹跟踪控制.

Study on Robust Control of Robotic Manipulators Based on First-Order Error Tracking Law

A robust control approach for time-varying trajectory tracking of multi-DOF(degree of freedom) robotic manipulators is introduced.A first-order error tracking law is proposed to overcome uncertainties of input disturbances,modeling errors and joints frictions.And a robust controller is designed based on feedback linearization and the first-order error tracking law.It is proved that the closed loop system has global uniform stability.The simulation results show that the control strategy has a good robustness for all kinds of uncertainties system,and can achieve high precision trajectory tracking control.