基于控制受限的机器人鲁棒自适应位置调节

Robust Adaptive Position Regulation of Robot Manipulators Based on Control Constraints

针对实际的控制系统中输入为有界的情况,研究了机器人系统存在未知参数以及外界干扰时的位置调节问题。基于李雅普诺夫稳定性理论,通过构造存储函数的过程中引入双曲正切函数向量和适当的辅助函数向量,提出了一种有界的鲁棒自适应控制器。所提出的控制器不仅保证了闭环系统的鲁棒稳定性,同时也满足了从干扰信号到跟踪误差评价信号所定义的增益性能指标,即保证了干扰抑制的有效性。最后,由两连杆机器人进行的仿真结果验证了该控制器的可行性。

In view of the bounded input in practical control systems, the position regulation problem is addressed for robot manipulators with unknown parameters and external disturbance in this paper. Based on Lyapunov stability theory, a kind of bounded robust adaptive controller is developed by introducing hyperbolic tangent function vectors plus proper auxiliary ones into constructed storage function. The proposed controller guarantees the robust stability of the closed - loop system and satisfies the performance level evaluated by - gain from the disturbance signal to the penalty signal for the tracking error. That＇ s to say, external disturbance is attenuated efficiently. Finally, the effective- ness of the proposed controller is showed by the simulation results of two - link robot manipulators.