基于扰动观测器的机械臂阻抗复合控制研究

Impedance composite control for manipulator based on disturbance observer

针对机械臂系统模型中存在未知扰动的问题,提出了基于扰动观测器的机械臂阻抗复合控制方法.针对二阶阻抗动态模型,采用由扰动观测器(DOB)、阻抗控制器和位置控制器构成的复合控制策略,其中扰动观测器用来估计机械臂模型中的未知扰动,阻抗控制器用于修正输入角度,位置控制器对修正后的角度进行跟踪控制.复合控制保证阻抗误差可以收敛到一个小的邻域,最终实现期望二阶阻抗模型的动态跟踪.仿真算例验证了该控制方法的有效性.

In this paper,an impedance composite control method based on disturbance observer is proposed for manipulator system with unknown disturbances.For tracking the second order impedance dynamic model,a composite control strategy is designed,which includes the disturbance observer(DOB),the impedance controller,and the position controller to estimate unknown disturbances,correct input angle,and track the adjusted angle,respectively.This composite control strategy ensures that the impedance error converges to a small neighborhood,thus realizes the desired dynamic tracking of the second order impedance model.The effectiveness of the proposed control method is proved by simulation examples.