一种具有非线性观测器的分散式自适应鲁棒机器人控制新方案

A New Kind of the Decentralized Adaptive Robust Control Scheme with a Non-Linear Observer for Robot Manipulators

中文关键词  分散控制  自适应控制  鲁棒控制  机器人控制

英文关键词  dencentralized control  robust control  robot control

中文摘要

      本文提出了一种新型的分散式自适应鲁棒机器人控制方案。它主要解决以下诸方面的问题：1）减少在线计算量；2）通过设置一个非线性观测器来及时修正模型信息，以适应负载及其他因素变化的需要，进而有效地减少所需控制值（尤其当系统处于平稳工作状态时，效果更加明显），相应地，也就减少了系统工作时的动能损耗。这一点对[1]中提出的机器人分散式变结构控制算法有较大改进；3）对系统的不确定性和扰动作用具有鲁棒性。

英文摘要

      This paper presents a new kind of the decentralized adaptive robust control scheme with a non-linear observer for robot manipulators. It can largely increase the speed of generating the control signals on-line because of using the way of decentralized control and the simplified model of the system to be controlled. In order to overcome the influence on the control model, which is caused by the changes of the payload and / or the other parameters of the system, this scheme makes use of a non-linear observer to revise promtly the parameters / states of the model so as to reduce effectively the kinetic energy cost of the working system. In this sense, this scheme has an great advantage over other similar ones. On the other hand, because the modified variable-structure control system theory is used in the process of controller design, the whole system has the good robustness to the disturbances and the various kinds of time-varying uncertainties. The simulation results have shown these.