带有逆向力补偿的Stewart平台自适应鲁棒控制

Adaptive robust control design with inverse dynamic compensation for Stewart platform manipulator

针对Stewart平台复杂的动力学特性以及参数不确定性,提出了带有逆向力补偿自适应鲁棒控制方法。依据对平台动力学特性的分析,采用Lagrange方法建立了上平台的前向动力学模型,同时利用Newton-Euler法对六连杆部分的动态特性进行逆向力补偿,得到了具有机械系统物理特征,且形式简单的误差动态系统。针对上平台参数摄动、逆向力补偿残量以及未建模动态等各种不确定性,依据耗散性理论设计自适应鲁棒控制器。由于平台动力学方程中形式最为复杂的六连杆动态特性被有效地加以补偿,从而控制器中动力学计算部分得以简化。平台动力学方程中上平台部分物理特征明显,可以方便地构造出合适的李雅普诺夫函数。仿真结果验证了该方法的有效性和分析的正确性。

An adaptive robust control for Stewart platform with partial inverse dynamic compensation is model is against its complex dynamics and parameter obtained by Lagrange method. The six legs＇ uncertainty. The upper platform＇s forward dynamic dynamic is compensated by Newton-Euler inversedynamic method so that the simple error dynamic could be gotten, while keeping good physical properties. As for the uncertainties, such as unmodeled dynamic, disturbance, remains of compensation and perturbation of upper platform＇s parameters, an adaptive robust control based on passivity theory is presented finally. Since the most complicated part in the manipulator＇s dynamics is complemented properly,the dynamic calculation in the control is simplified. Furthermore the upper platform＇s physical property could be used to construct suitable Lyapunov function. The proposed algorithm is verified by simulation.