| 引用本文: | 孟宪洋,尤海荣,何平,张果,李恒.基于收缩反步的不确定机械臂轨迹跟踪控制[J].控制理论与应用,2022,39(5):906~914.[点击复制] |
| MENG Xian-yang,YOU Hai-Rong,HE Ping,ZHANG Guo,LI Heng.Trajectory tracking control of uncertain manipulator via contraction backstepping[J].Control Theory and Technology,2022,39(5):906~914.[点击复制] |
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| 基于收缩反步的不确定机械臂轨迹跟踪控制 |
| Trajectory tracking control of uncertain manipulator via contraction backstepping |
| 摘要点击 1797 全文点击 650 投稿时间：2020-12-31 修订日期：2021-10-27 |
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| DOI编号 10.7641/CTA.2021.00937 |
| 2022,39(5):906-914 |
| 中文关键词 机械臂 轨迹跟踪 收缩理论 反步法 |
| 英文关键词 manipulator trajectory tracking contractive theory backstepping |
| 基金项目 国家自然科学基金项目(11705122), 四川省科技计划项目(2020YFH0124), 自贡市重点科技计划项目(2020YGJC01), 四川轻化工大学大学生创新 创业训练计划项目(CX2020159)资助. |
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| 中文摘要 |
| 针对不确定机械臂系统的轨迹跟踪控制问题, 基于干扰观测器原理, 提出了一种收缩反步控制算法. 首先,
采用非线性观测器对系统的模型不确定项和未知外部干扰部分进行观测. 然后, 使用收缩反步控制求解出控制输入
力矩, 从而实现对参考轨迹的精确跟踪, 并分析二阶闭环系统的增量稳定性和Lyapunov方程解的原点指数稳定性.
最后, 将上述所提控制律应用于2-DOF机械臂, 通过收缩反步与滑模控制的对比仿真, 证明其有效性. |
| 英文摘要 |
| A contraction backstepping control for manipulator position tracking is proposed by using disturbance observer.
First of all, the model uncertainties and unknown external disturbances are observed by using the nonlinear observer,
and the observation error is exponential convergence. Then, control input torque is solved by the contraction backstepping
control to achieve accurate tracking of the reference trajectory, and analyze the incremental stability of the second-order
closed-loop system and the exponential stability of the origin in term of Lyapunov equation solution. Finally, the abovementioned
control law is applied to the 2-DOF manipulator, and its effectiveness is proved by the comparison simulation
of contraction backstepping and sliding mode control. |
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