基于干扰和输出受限的电机驱动机械臂轨迹跟踪控制

Trajectory Tracking Control of Manipulators Actuated by Motors Based on Disturbance and Output Constrain

对于一类由直流电机驱动的机械臂,考虑了在干扰和输出受限下的轨迹跟踪控制问题。在干扰有界的条件下,设计了一个干扰观测器来估计干扰。为了防止违反约束条件,基于机械臂系统的结构特性,引入了一个障碍Lyapunov函数,然后设计了一个矢量形式的可调轨迹跟踪控制器,使跟踪误差可充分小,同时输出不能违反其约束界限。最后通过对一个拟人机械臂的仿真结果,验证了所提方案的有效性。

For a class of manipulators actuated by DC-motors,the problem of trajectory tracking control under output constrain and unknown disturbance is considered in this paper.In the case of bounded disturbance,a disturbance observer is designed to estimate disturbance.To prevent constraint violation,a skillful barrier Lyapunov function based on the structural properties of the manipulator is introduced.Then a tuning trajectory tracking controller in vector form is designed such that tracking error can be made small enough,while the output cannot violate its constrained bounds.The effectiveness of the proposed scheme is demonstrated by the simulation results for a humanoid manipulator.