摘要
针对柔性机械臂系统的伺服约束力控制问题,文章提出了一种新的控制方法。由于柔性机械臂系统具有非线性和时变不确定性,系统采用非完整约束,其约束力由Udwadia-Kalaba动力学方程得到解析解并应用到控制中;引入了一个虚拟控制,将系统转变为连杆角度子系统和关节角度子系统,每个子系统都有自己的控制输入。该控制方法包括Udwadia-Kalaba理想控制部分和鲁棒控制部分,能使连杆角度近似地跟踪给定约束,同时保证整个系统的一致有界性和一致最终有界性。
A new approach to the constraint-following servo control for flexible manipulator was proposed.Flexible joint robot is a highly nonlinear system and always has time-varying uncertainty.To nonholonomic constraints,the analytical solution of constraint force is obtained by Udwadia-Kalaba approach so that it can be applied in the control.A virtual control is implanted to divide the original system into link angle subsystem and joint angle subsystem,and each subsystem has control input.The proposed control consisting of Udwadia-Kalaba nominal controller and robust controller renders the given constraints approximately followed while guaranteeing the uniform boundedness and uniform ultimate boundedness performance of the overall system.
作者
韩江
张凯
董方方
HAN Jiang;ZHANG Kai;DONG Fangfang(School of Mechanical Engineering, Hefei University of Technology, Hefei 230009, China)
出处
《合肥工业大学学报（自然科学版）》
CAS
北大核心
2020年第5期577-583,共7页
Journal of Hefei University of Technology：Natural Science
基金
国家自然科学基金资助项目(51705116)
安徽省重大科技专项资助项目(17030901036)。
关键词
鲁棒控制
不确定系统
柔性关节机器人
一致最终有界性
约束
robust control
uncertain system
flexible joint robot
uniform ultimate boundedness
constraint
