负载不确定振动基机械臂的有限时间鲁棒镇定控制

Finite time robust stabilization control for vibration-based manipulators with payload uncertainty

针对存在外部振动激励与负载变化的机械臂在实现位置控制时耗时长、精度低等问题,提出了一种鲁棒有限时间控制方法。使用第二类Lagrange方法建立了含外部扰动的机械臂动力学方程,将基座所受振动激励处理为系统惯性不确定项,设计了基于隐式Lyapunov函数的有限时间控制器;结合有限时间稳定性引理,采用Lyapunov理论证明了所提控制算法可以在有限时间内收敛稳定,给出了控制器计算流程;以基座存在振动的两连杆机械臂为对象,搭建试验装置并考虑外部振动与负载变化的情况进行多组对比试验。研究结果表明:所提出的方法能克服基座振动与负载变化的影响,使控制对象快速趋近目标位置,具有较好的抗干扰性与鲁棒性。

A robust finite time control method is proposed to solve the problem of long time and low precision in position control of manipulator with vibrational excitation and payload uncertainty.Firstly,the dynamic equation of the manipulator with external dis⁃turbance is established by Lagrange method of the second kind.The vibrational excitation of the base is treated as the inertial uncer⁃tainty parameter of the system.A finite time controller based on implicit Lyapunov function is designed.Secondly,in combination with the lemma of finite time stability,Lyapunov theory is used to prove the proposed control algorithm can converge and stabilize in finite time,and the calculation flow of the controller is given.Finally,the two-link manipulator arm with based-vibration is taken as the object,set up the experimental equipment and carry out several groups of contrast experiments considering the vibrational ex⁃citation and payload uncertainty.The results show that the proposed method can overcome the influence of the vibrational excita⁃tion and payload uncertainty and let the controlled member move to the desire position quickly,with better anti-interference and ro⁃bustness.