欠驱动柔性关节机器人的趋同控制策略

Consensus control strategy for under-actuated flexible-joint robots

针对欠驱动机器人网络系统同步控制中过于复杂的结构及稳定性问题,在现有同步控制方法的基础上提出一种欠驱动柔性关节机器人趋同控制算法,设计一种选择性控制器并构建其网络模型及拓扑结构,利用相关的推导,从原理上验证对控制器的可行性,其能够解决通信信道存在未知时滞情况下欠驱动网络系统的趋同控制问题,不依赖于初始条件知识的储备。通过相应的空间坐标变换后,该控制器可应用于笛卡尔坐标系。通过对由10个不同单自由度柔性关节机器人组成的网络系统进行数值模拟,在不同控制参数情况下的仿真结果表明,该网络系统中所有机器人在8秒钟内均能达到期望的趋同状态,验证了该控制策略对柔性关节机器人网络系统进行同步控制的有效性。

For the complicated structure and stability issues of the networks composed by under-actuated robots, a type of alter-native control strategy was designed based on the consensus control, whose network model and topological structure were also built. Meanwhile, the feasibility of designed controller was theoretically demonstrated by formula derivations, which not only synchronically controlled the under-actuated networks under the existence of unknown delays in the communication channels？ but also dispensed with knowledge of the initial conditions. Moreover, the presented consensus controller was widely applied to the Cartesian coordinates after the change of coordinates. The numerical simulations were conducted on the network system consis-ting of ten different robots. Simulated results with different parameters show that all of robots in network can reach consensus within 8 seconds, thus the usefulness of the designed consensus controller for the flexible-joint multi-robots network can be well demonstrated.