摘要
考虑到自主研发的双半球胶囊机器人系统不确定性以及外界扰动等非线性特征问题,提出了一种基于Hamilton-Jacobi不等式(HJI)理论的双半球胶囊机器人滑模鲁棒非线性控制策略。通过拉格朗日动力学原理建立双半球胶囊机器人被动模态的动力学模型,并将Hamilton-Jacobi不等式理论应用于设计滑模鲁棒的控制律来确保控制系统的稳定性。此外,通过Lyapunov方程验证了该双半球胶囊机器人基于HJI理论的滑模鲁棒控制系统的有效性,并对所设计的控制器进行了仿真实验,仿真和实验结果表明所设计的控制策略能有效地抑制外部干扰对控制误差的影响,提高了双半球胶囊机器人系统的控制精度。
Considering the nonlinear characteristics of self-developed dual hemisphere capsule robots(DHCRs) such as indeterminate and external disturbances, a sliding mode robust control strategy for the DHCR based on Hamilton-Jacobi inequality(HJI) theory was proposed. The dynamic model of the passive mode of the DHCR was established by Lagrangian dynamics principle, and the HJI inequality theory was applied to design the sliding mode robust control law to ensure the stability of the control system. In addition, the effectiveness of the control system based on the HJI theory was verified through the Lyapunov equation, and simulation experiments on the designed controller was conducted.Simulation and experimental results show that the control strategy can effectively suppress the influence of external interference on the control error, and improve the control accuracy of the DHCR.
作者
刘冠喜
张永顺
Liu Guanxi;Zhang Yongshun(Key Laboratory for Precision&Non-traditional Machining of Ministry of Education,Dalian University of Technology,Dalian,Laiaoning 116024,China)
出处
《机电工程技术》
2021年第11期26-29,90,共5页
Mechanical & Electrical Engineering Technology
基金
国家自然科学基金资助项目(编号:61773084)。
