双向对拉扭绳的自适应鲁棒控制

Design of ARC Controller for Dual-twisted String Actuator

提出一种基于自适应鲁棒控制的交叉耦合同步控制策略,通过实时估计系统的参数来提高伺服系统的瞬态响应,并在扭绳驱动器参数摄动的上下界已知的情况下,采用标准投影参数机制来调节控制增益的大小,同时融入鲁棒控制器来抑制系统中的非线性因素和不确定性,从而确保系统的鲁棒性。实验结果表明,与基于LQR的线性控制相比较,具有较高的目标轨迹跟踪精度与较小的同步误差,且系统具有较强的抗扰性。

In this study, the ARC controller was synthesized with the consideration of cross-coupling dynamics between the two axes was proposed. The transient response of system was improved by estimating the parameters in real time, and the control gain value was tuned by adopting the projection mechanism with the knowledge of the boundary of the twisted string actuator＇s parameters. The stability of the system was guaranteed by using ARC controller to limit the system＇s nonlinearity and uncertainty. The experimental results demonstrate the performance of both tracking and synchronization responses of the ARC controller compare to the LQR controller.