输入力矩受限的机器人鲁棒自适应跟踪控制

Robust-adaptive tracking control of robot manipulators with bounded torque inputs

中文关键词  机器人  跟踪控制  参数不确定  鲁棒自适应控制  输入力矩受限

英文关键词  robot manipulator  tracking control  parametric uncertainties  robust-adaptive  torque input constraint

中文摘要

      在输入力矩受限的情况下, 提出一种全新的简单鲁棒自适应跟踪控制算法, 当参数的估计范围包含其真实值时, 证明了闭环系统的渐近稳定跟踪;当有干扰存在, 常规参数估计自适应控制算法不能实现稳定控制时, 本算法仍然使系统稳定, 在本算法中, 所估计的参数在跟踪控制律前馈项中表现为非线性, 这是区别于常规参数估计自适应算法的一个最重要特征. 因此本算法控制器的设计更有灵活性, 另一方面获得更好的控制品质和鲁棒性, 特别是对参数域估计误差即参数范围估计错误的强鲁棒性, 均为仿真算例所验证.

英文摘要

      Based on input constraints, a novel robust-adaptive tracking control algorithm is proposed for robot manipulators since stability of the standard adaptive control systems is problematic when some disturbance exists. The proposed controller stabilizes the system with some disturbance and guarantees asymptotic stability in the case of non-disturbance. Robust-adaptive algorithm can be received as the extension of the conventional adaptive scheme. The estimated parameters enter the controller non-linearly and the resulting closed-loop system. The algorithm (where saturated function can be used) provides further flexibility for adaptive controller design and better transient performance and robustness to disturbance and error of estimated parameter-region especially. Simulation results demonstrate its effectiveness.