基于反步与阻尼法的机械臂光滑鲁棒控制器设计与仿真

Smooth Robust Controller Design of Manipulator and Simulation Based on Backstepping and Damping Scheme

为了抵消动力学不确定性,摩擦力和干扰的影响,目前机器人类系统的鲁棒控制器大多使用了滑模控制,而且很多都未论述滑模控制的颤振问题,仿真也是在理想化的切换情况下获得,并不能准确反应实际的物理系统效果。而且在物理实现时,使用滑模控制需要切换装置,频繁切换对装置的性能要求较高。现以典型的机器人类系统机械臂为例,使用反步控制结合自适应神经网络和非线性阻尼技术,给出了一种光滑的鲁棒自适应控制器来跟踪给定参考轨迹,避免了控制器的切换。仿真结果验证了该方法具有很好的控制性能及鲁棒性,并且同一般的控制器做了性能比较。最重要的是得到了光滑的鲁棒控制电机电压。

In order to counteract the affect of dynamic uncertainty,friction force and disturbance,most of the robust controllers of robot system adopt the sliding control,but the chattering problem is not mentioned in many of these literature,the simulation is achieved under the condition of idealization of switching which could not reflect the real effect of the controller in practical system.In the physical realization,sliding control need the implementation of switching equipment and high performance is required.A typical robot system manipular is taken for an example,by adopting backstepping control,adaptive neural network and damping scheme,a smooth robust adaptive controller is achieved to track the given reference trajectory and swicthing is avoided.The simulation verifies the effectiveness of the controller which has good control performance and robustness,and the comparison to other controllers is also made.Most importantly,a smooth and robust control voltage of the motor are achieved.