基于算子理论的机械臂PI跟踪控制研究

Operator-based PI Tracking Control for Robotic Manipulator

对机械臂的跟踪控制问题进行了研究。在算子理论的基础上,设计了算子观测器,减小了机械臂的不确定性对系统控制性能的影响。在此基础上,设计了跟踪控制器,确保了系统的跟踪性能。通过对机械臂跟踪轨迹和跟踪误差进行仿真证明,采用以上方法明显缩小了跟踪误差,跟踪性能优良。

In this paper, the tracking control problem of robotic manipulator is investigated. Firstly, based on operator theory, operator observer is designed to compensate the uncertainty of robotic manipulator. Secondly, based on this, tracking performance of the system is guaranteed by designing tracking controller. Fi- nally, the tracking trajectory and tracking error o{ robotic manipulator are simulated, the results show that the proposed approach can significantly reduce tracking error and achieve better per{ormance.