不确定刚性机械臂的鲁棒输出控制

Robust output control of the uncertain rigid robot manipulator

针对不确定刚性机械臂系统的鲁棒控制和抖振问题,在仅有精确关节位置反馈的情况下,通过引入速度滤波器生成伪速度信号,并利用反推补偿设计滤波增益,提出了一种基于速度估计的鲁棒输出反馈控制策略。滤波器-控制器设计中不含有开关控制项,有效避免了控制抖振现象。该算法对采样频率无严格限制,最终可确保系统闭环半全局一致有界收敛。通过两关节机械臂的仿真实例验证了所提算法的有效性。

For resolving the problem of robust control and chatter of the uncertain rigid robot manipulator system, the velocity filter is introduced to build a pesudo-velocity signal with the condition that only joint position feedback can be obtained accurately, and the filter gain is designed through the backstepping compensation. A robust output feedback control of the uncertain robot manipulator is proposed by using velocity estimation. To avoid the control chatter effectively, the switch control term is abandoned in the filter-controller. The algorithmic relaxes the strict limit on sample frequency, and can guarantee SGUUB （ semi-global uniform ultimate boundedness） of the closed-loop system. The validity of the proposed algorithmic is verified through simulation studies on two joints planner robot manipulator.