基于反步法的机器人鲁棒跟踪控制

The Robust Tracking Control of Robot Based on Back-stepping

针对不确定性机器人的跟踪控制问题,设计出了基于反步法的控制器。该方法首先将机器人动力学模型通过线性反馈得到了两个子系统,然后对每个子系统分别构造李雅普诺夫函数来保证渐近稳定,从而达到了对机器人系统跟踪误差渐近稳定控制的目的.最后以两关节机器人为例进行仿真,仿真结果表明基于反步法的控制器是有效的.

A kind of controller based on the Backstepping method for the tracking control problem of uncertainty robot is designed.First,the robotic dynamical model is transformed into two subsystems via the linear feedback.Then,construct the Lyapunov function for each subsystem to guarantee asymptotical stability.Naturally,the aim to control the tracking error of robotic system asymptotically stable achieves.At last,the simulation test is given by taking a two-joint robot as an example.The simulation result show the controller based on the Backstepping method is effective.