不确定性机器人的鲁棒跟踪控制

Robust Tracking Control for Uncertain Robot

提出一种基于新模型的机器人计算力矩鲁棒跟踪控制。首先利用反馈控制技术,把多关节机器人动力学模型转化成一个线性状态方程。然后基于此线性状态方程,应用李雅普诺夫函数设计思想,针对不确定性有界的要求,设计连续鲁棒补偿控制器来抑制不确定性对机器人控制系统的影响。根据所选控制器中个别参数的不同,分别使机器人系统满足全局指数稳定(GES),全局渐近稳定(GAS)和全局一致终值有界(GUUB)。

A new kind of computed torque robust tracking control for robots based on a new model is proposed. First, the robotic dynamical model is transformed into a linear state equation via feedback control technique. Then, based on the linear state equation together with the Lyapunov stability theory, the robust compensated controller corresponding to the bounded uncertainty is designed to attenuate the effect of unexpected uncertainty to robotic control systems. With the different parameter selected in the controller, the robotic systems can achieve Globally Exponentially Stable （GES）, Globally Asymptotically Stable （GAS） and Globally Uniformly Ultimately Bounded （GUUB）.