基于模糊自抗扰技术的机械臂轨迹跟踪控制

The trajectory tracking control of manipulator based on fuzzy ADRC technology

考虑机械臂动力学模型中存在未建模动态、摩擦力矩、外部干扰等不确定性因素,为了提高系统的轨迹跟踪控制性能,设计了模糊自抗扰控制器。利用自抗扰技术中的扩张状态观测器能够对系统内外部扰动进行实时估计的特性,观测系统的不确定性因素,应用跟踪微分器提高系统动态响应性能,同时结合模糊控制技术对非线性误差反馈控制加以改进,从而实现了误差反馈增益的优化自整定。仿真结果验证了该控制器的强鲁棒性和有效性。

Considering the dynamic model of the manipulator influenced by the uncertain factors such as unmodeled dynamics, friction torque and external disturbances, a fuzzy active disturbance rejection controller（ADRC） is proposed in this paper to improve the trajectory tracking performance of the system. By using the extended state observer in the active disturbance rejection technique which can estimate the internal and external disturbances in real time, the uncertain factors of the system can be observed. The dynamic response performance of the system can be improved By using the tracking differential device, and the nonlinear error feedback control law is improved by combining the fuzzy control technology, thus realizing the optimal self-tuning of the error feedback gain. Simulation results show that the strong robustness and effectiveness of the proposed controller.