通过脉冲控制实现机械臂系统的实用跟踪

Practical Tracking of Robotic Manipulator Via Impulsive Control

提出脉冲控制实现拉格朗日方程描述的机械臂系统的实用跟踪.给定一个期望的时变轨道,通过脉冲控制得到的代数判据使得机械臂系统在任意的初始条件下都能跟踪到这个期望轨道上,并且跟踪误差控制在期望的范围内.通过脉冲控制,机械臂只需要在一些离散的时刻接收期望轨道的信息,这可以在很大程度上减少信息传输的负担.最后所得到的理论结果以2连杆机械臂为例子,验证控制策略的有效可行性.

In this paper,impulsive control is proposed to realize the practical tracking of robotic manipulator described by Lagrange equation.For given a desired time-varying trajectory,some algebraic criteria are derived to make robotic manipulator track this desired trajectory with any initial conditions.Besides,the desired tracking error bound can be obtained.By impulsive control,robotic manipulator only needs to receive the information of the desired trajectory at some discrete moments,which implies that the amount of information needed to be transferred was greatly reduced.The obtained results are applied to a typical system of two-link robotic manipulator,which demonstrates the effectiveness and feasible of the proposed control strategy.