二自由度机器人的网络化位置跟踪控制

Networked Position Tracking Control of a 2DOF Robot

文章针对具有双边时变时延和丢包的网络控制系统,研究了二自由度机器人的PID跟踪位置控制。通过和PID控制结合时滞系统的分析和设计方法,将PID参数选取问题变为系统指数稳定性问题,接着给出了满足位置跟踪性能的控制器参数的计算方法。最后通过一个二自由度机器人实验验证了文章所提方法的有效性。

This paper investigates position tracking control problem of a two degree of freedom robot for NCSS with bilateral time-varying delay and packet dropouts.By using the method of time delay system and PID control,the problem of PID parameter selection is changed into the problem of system exponential stability.Then the calculation method of the controller parameters satisfying the performance of position tracking is given.Finally,a two degree of freedom robot application example is given to illustrate the effectiveness of the proposed method.