机械臂力/位跟踪的无源自抗扰控制器设计

Design of Passive Active Disturbance Rejection Controller for Trajectory Tracking of Mobile Manipulator

为了提高全方位移动机械臂的力/位跟踪控制精度,设计了无源自抗扰控制器。介绍了全方位移动机械臂工作原理,基于拉格朗日方程建立了移动机械臂系统的动力学方程。根据严格无源系统定义,证明了全方位移动机械臂系统的无源特性。以自抗扰控制为基础,通过定义新变量对扩展状态观测器进行改进;针对机械臂系统的无源特性,设计了无源自抗扰控制器。在扰动工况下进行仿真验证,改进扩展状态观测器的扰动估计误差远小于传统扩展状态观测器,且估计速度快于传统扩展状态观测器;无源自抗扰控制器的跟踪累计绝对误差远小于传统自抗扰控制,说明无源自抗扰控制的控制精度高于传统自抗扰控制。仿真结果证明了无源自抗扰控制在全方位移动机械臂控制中的高精度和优越性。

In order to improve the force/position tracking control accuracy of omni-directional mobile manipulator,a passive ac-tive disturbance rejection controller is designed.The working principle of omni-directional mobile manipulator is introduced,and the dynamic equation of mobile manipulator system is established based on Lagrange equation.According to the strict definition of passive system,the passive characteristics of omni-directional mobile manipulator system are proved.Based on ADRC,the ex-tended state observer is improved by defining new variables;According to the passive characteristics of the manipulator system,a passive active disturbance rejection controller is designed.The simulation results show that the disturbance estimation error of the improved extended state observer is much less than that of the traditional extended state observer,and the estimation speed is faster than that of the traditional extended state observer.The tracking cumulative absolute error of passive ADRC is much less than that of traditional ADRC,which shows that the control accuracy of passive ADRC is higher than that of traditional ADRC.The simulation results prove the high precision and superiority of passive ADRC in the control of omni-directional mobile manipulator.