摘要
为了实现挖掘机器人的轨迹跟踪控制,建立了挖掘机器人工作装置的四自由度拉格朗日动力学模型,设计了一个鲁棒控制器.控制律包括等效控制和辅助控制.等效控制保证闭环系统的控制输入基于期望的动力学模型,辅助控制保证动力学建模误差和不确定性存在时控制系统的鲁棒性以及跟踪误差趋于零.为了削弱控制输入的高频振荡,模糊控制被应用.将所设计的模糊鲁棒控制器用于仿真试验,给出了其轨迹跟踪效果及控制输入.
To implement the trajectory tracking control of a robotic excavator,the 4-DOF Lagrangian dynamic model of a robotic excavator＇s working device was developed with a robust controller designed.The relevant control law includes an equivalent control and auxiliary control,where the former ensures that the control input of a closed-loop system is based on the expected dynamic model,while the latter ensures the robustness of control system and the tracking error which approximates to zero if there are dynamic modeling errors and uncertainties.The fuzzy control is applied to alleviating the chattering during control input.With the designed fuzzy robust controller used in simulation,its effect of trajectory tracking and control input are both given.
出处
《东北大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2010年第9期1333-1336,共4页
Journal of Northeastern University(Natural Science)
基金
国家自然科学基金资助项目(50775029)
关键词
挖掘机器人
动力学模型
模糊鲁棒控制
轨迹跟踪
robotic excavator
dynamic model
fuzzy robust control
trajectory tracking
