基于Backstepping方法的机器人鲁棒跟踪控制

Robust Tracking Control for Robot Based on Backstepping Method

把基于拉格朗日方程的n关节包含不确定项的机器人化成两个子系统。用Backstepping方法首先对各个子系统设计李雅普诺夫函数和控制器,然后综合起来形成整个系统的李雅普诺夫函数和控制器,不但满足了稳定性的要求,又满足了一定的L2增益性能指标。

Corresponding to the uncertain external disturbances, the dynamic model of n -joint robot based on Lagrange equation is transformed into two sub-systems. First, the Lyapunov function and controller for each sub- system are designed by means of Backstepping methods, and then, they are integrated to form the entire Lyapunov function and controller, which not only satisfies the requirement of stability, but also satisfies some performance indices of the L2-gain.