机械臂系统鲁棒控制轨迹跟踪

Trajectory Tracking of Manipulator System Based on a Robust Control Approach

针对具有不确定性的机械臂系统的轨迹跟踪控制问题,提出了一种基于Udwadia-Kalaba方程的鲁棒控制算法,可以在不引入拉格朗日乘子的情况下求解机械臂的关节约束力,该控制算法可抑制机械臂系统中不确定性的影响,并经过Lyapunov理论严格证明表明该控制算法能够保证系统的稳定性。为了验证该控制方法的有效性和鲁棒性,针对平面二自由度机械臂系统进行了仿真试验。仿真结果表明:在轨迹约束初始条件不相容的情况下,该控制算法能够克服系统不确定性的影响,控制机械臂跟踪期望轨迹精确运动。

Aiming at the trajectory tracking control problem of the manipulator system with uncertainty,a robust control algorithm based on Udwadia-Kalaba equation is proposed,which can solve the joint constraint of the manipulator without introducing Lagrange multiplier.The control algorithm can suppress the influence of uncertainty in the manipulator system,and the rig-orous proof of Lyapunov theory shows that the control algorithm can guarantee the stability of the system.To verify the effectiveness and robustness of the proposed control method,a simulation experiment was carried out for the planar two-degree-of-freedom manipulator system.The simulation results show that the control algorithm can overcome the influence of system uncertainty and control the robot arm to track the precise motion of the desired trajectory when the initial conditions of the trajectory constraints are incompatible.