基于组合非线性反馈的机器人鲁棒控制方法

Method of Robust Control Based on Composite Nonlinear Feedback for Robot

自身关节摩擦或外部环境扰动不可避免地会对机器人系统产生不利影响,致使系统产生定位误差和抖动,从而弱化系统的控制性能。所使用的方法在组合非线性反馈(CNF)控制器的基础上加入干扰估计补偿项(鲁棒项)所形成的新型控制器可以有效地解决这个问题。最终仿真结果表明,新型控制器不但能保留原有组合非线性反馈控制方法的优点,还可以有效抑制摩擦等扰动对系统的影响,使系统获得更好的控制性能并保持较强的鲁棒性。

Robot’s joint friction or external environmental disturbance will inevitably affect the robot system,causing system positioning error and jitter,thereby weakening the system's control performance.The addition of the interference estimation compensation term(robust term)based on the combined nonlinear feedback(CNF)controller can effectively solve this problem.The simulation results show that the new controller can not only retain the advantages of the original combination of nonlinear feedback control method,but also can effectively suppress the impact of friction and other disturbances on the system,which can make the system get better control performance and maintain strong robustness.