微手系统的鲁棒无源跟踪控制

Robust passive tracking control for micro-hand system

近年来,微手系统作为机器人技术的一个热门研究领域,受到了越来越多的关注.由于微手系统是复杂且具有非线性的,因此在实际应用当中很难达到精确跟踪的性能.为了解决微手系统的精准控制问题,本文讨论了微手系统的鲁棒无源跟踪控制.首先,运用基于演算子理论的鲁棒右互质分解方法,建立了微手系统的动态模型.然后,通过结合无源补偿算子,设计了无源鲁棒控制器,保证了系统的鲁棒稳定性和无源性.进而提出了基于双Bezout恒等式的鲁棒跟踪控制方案,使整个非线性系统具有较强的鲁棒性和良好的跟踪性能.最后,通过仿真进一步验证了所提出方法的有效性.

In recent years,as a hot research topic in the field of robotics,the research of the micro-hand system has gained more and more attention.Since the micro-hand system is complex with nonlinearity,it is difficult to realize the accurate tracking performance for some real applications.Therefore,in order to solve the accurate control problem of the micro-hand system,the robust passive tracking control for the micro-hand system is studied in this paper.Firstly,using the operator-based robust right coprime factorization method,a dynamic model of the micro-hand system is established.Secondly,combined with the passive compensator,the passive robust controller is designed to ensure robust stability and passivity of the system.Thirdly,the robust tracking control scheme based on dual Bezout identity is proposed,which makes the whole nonlinear systems hold robustness and perfect tracking performance.Finally,the effectiveness of the proposed method is further verified by the simulation.