基于扩张状态观测的机器人分散鲁棒跟踪控制

Robust Decentralized Trajectory Tracking Control of Robot Manipulators Based on Extended State Observer

针对模型不确定性多关节机器人的轨迹跟踪控制问题,提出一种基于扩张状态观测补偿的关节独立分散鲁棒控制方法.设计多个并联的扩张状态观测器,分别对每个独立关节的未知模型动态与外部扰动进行动态估计和补偿,采取非线性状态反馈控制以提高系统的控制性能.各个关节的控制完全独立,因而控制器结构简单、可靠、易于实现.对所设计的关节分散鲁棒控制器的Lyapunov稳定性进行了分析,证明系统是指数收敛全局一致最终有界稳定的.对PUMA560机械手的大量控制仿真验证了本文方法的有效性.

A detached joint decentralized robust control method based on extended state observation was developed for trajectory tracking control of robot manipulators with model uncertainty. Multiple parallel extended state observers were designed for estimation of unknown dynamics and external disturbance of each joint, and the estimated states were used for nonlinear feedback control and compensation to improve system performance. Every joint controller is completely detached, so the architecture is simple, reliable, and easy to implement. The Lyapunov stability of the proposed robust decentralized controller is analyzed, and the global uniform ultimate boundedness stability with exponential convergence is proved. The method is validated by simulations of PUMA560 robot manipulator control. control, stability