两连杆机械臂系统的跟踪控制

Tracking Control for Two-link Manipulaor

机械臂系统是近十几年来出现的一种工业技术设备,由于多连杆机械臂系统的非线性特性以及强耦合性,使得多连杆机械臂系统的稳定控制一直是一个难点;现有的机械臂控制系统大多跟踪误差较大,而且易受外界扰动的干扰,所以用传统的PID或者简单反馈控制实际效果很难让人满意。文章选取两连杆机械臂系统作为对象,通过反馈线性化处理以及状态反馈的参数选取,并通过Matlab对系统的跟踪控制效果进行仿真。文章所采取的控制器设计方法的创新点在于不仅保证闭环系统稳定,所有状态有界,跟踪误差最终有界,并且当系统具有不确定性和外界干扰时具有比较强的鲁棒性,同时对实践也具有较强的指导意义。

Manipulator system is a kind of industrial technological equipment emerged in the last decade, due to the nonlinear characteristics and the strong coupling of the multi-link manipulator system; the stable control of the multi-link manipulator system has been a difficult point. Most of the current manipulator control system has relatively large tracking error, and is easy to be disturbed, so it is difficult to achieve satisfactory effect using traditional PID or simple feedback control. This article takes a two-link manipulator system as the object, and uses feedback linearization processing and the parameter selection of the state feedback, then the tracking control effect of the system is simulated using Matlab. The innovative points of the design method used in this paper are that not only the stability of the closed-loop system can be ensured, all states are bounded, the tracking error is ultimately bounded, but also relatively strong robustness may achieved when the system has uncertainty and is disturbed by outside, at the same time, it design method has a strong guiding significance to the practice.