机械手鲁棒输出跟踪控制与仿真

Robust Output Tracking Control and Simulation for Robot Manipulator

研究了两自由度机械手终端夹持不定载荷时的输出跟踪问题。应用输入 /输出反馈线性化法和李亚普诺夫方法 ,提出了一种基于不确定项上界的机械手鲁棒输出跟踪控制器设计算法。所述控制器可确保系统输出按指数规律跟踪期望输出 ,同时相应闭环系统的状态一致最终有界。该方法计算简单 ,容易实现。仿真结果证明了其可行性及有效性。

The output tracking problem for a two-DOF robot manipulator with uncertain payload is considered in this paper. By employing input/output feedback linearization approach and Lyapunov method, a design method of robot robust output tracking controller is proposed based on the upper-bounds of the uncertainties. The proposed controller guarantees that the system output can track the desired output with exponential law and all states of the obtained closed-loop system are uniformly ultimately bounded. Moreover, the developed controller is easy to compute and implement. Simulations show that the given method is practical and effective.