不确定机器臂系统的鲁棒追踪控制设计

Design of robust tracking control of uncertain robotic arm system

针对机器臂的不确定动力学参数和外部未知干扰,提出了一种自适应雅格比追踪控制策略,运用李亚普诺夫方法及滑模控制来加强系统的渐进稳定性,可使机器臂末端装置的运动误差渐进收敛到零。仿真结果表明,该控制器运用于二自由度机器臂具有较好的鲁棒性和动态性能。

This article raises an adaptive Jacobian tracking control policy for uncertain dynamical parameter and external disturbances of the robotic ann. Using the Lyapunov method and sliding-mode controller to enhance the asymptotic stability of the system that shows the motion errors of end device on robotic arm converge asymptotically to zero. Simulation results show that the controller has good robustness and dynamic performance when it is applied to a two-degree of freedom （2DOF） robotic arm.