机器人鲁棒控制器参数演化设计

论文将讨论具有控制输入幅值限制的机器人轨迹跟踪控制问题。将利用基于信号补偿的鲁棒控制方法设计机器人的子关节系统控制器。该控制器由标称控制器和鲁棒补偿器组成。标称控制器对于一标称受控对象实现所希望的轨迹跟踪特性,鲁棒补偿器则用于减小实际受控对象和标称受控对象之间的差异对跟踪特性的影响。当输入存在饱和约束的情况下,对鲁棒补偿器进行了修改,并且基于演化寻优的方法求取鲁棒补偿器参数。

Evolutionary Design of Parameters of Robust Controller for Robot

Tracking control problems for robots with control input amplitude limitation are investigated.The robust control method based on signal compensation is applied to design controllers for each joint subsystem.A robust controller designed by this method consists of a nominal controller and a robust compensator.The nominal controller achieves desired tracking properties for a nominal plant,and the robust compensator is applied to reduce the influence on the tracking properties caused by the difference between the nominal plant and the real one,For the cases where there exists limitation on the control input amplitudes,a modification is made on the robust compensator.A method of evolution optimization is presented to find the parameters of the robust compensator,