并联式加注机器人鲁棒轨迹跟踪控制

Research on Robust Control of a Parallel Filling Robot

针对一种运载火箭并联式加注机器人的对接轨迹跟踪控制问题,提出了一种基于系统多输入多输出模型的鲁棒控制策略。首先建立了包含并联机器人和液压驱动器动态特性的系统高阶多输入多输出模型。同时,将系统的建模误差、外部不确定性扰动等统一处理为系统的匹配与不匹配不确定,通过结合反步设计方法及合适的Lyapunov函数选择,给出了一种鲁棒控制器的完整设计方法,并证明了该控制器的稳定性。仿真分析表明,控制器具有良好的轨迹跟踪性能和抗干扰能力,能够满足加注对接任务需求。

A robust control strategy based on the system multi-input multi-output(MIMO)model is proposed for the trajectory tracking for a parallel automatic filling robot.Firstly,a high-order MIMO dynamic model including parallel robot and hydraulic actuator is established.Meanwhile,by treating the modeling errors and external uncertain disturbances as the matched and unmatched uncertainties of the system,a complete method for robust controller design is given based on the backstepping method and the appropriate selection of Lyapunov function,and the stability of the system is then proved.Simulation results show that the proposed controller has good trajectory tracking performance and anti-disturbance ability,and can meet the requirement of filling task.