状态受限机械臂的固定时间收敛双环自适应控制方法

Fixed-time Convergent Dual-loop Adaptive Control of Manipulator with State Constrained

针对机械臂轨迹跟踪控制中存在状态有界、参数摄动和跟踪时间不能预知的实际工程问题,提出一种固定时间收敛的双环自适应跟踪控制算法。该算法可根据控制参数预估机械臂轨迹跟踪时间,保证轨迹跟踪误差在预设有界范围内变化,且对系统内部参数摄动和外部干扰具有较强鲁棒性。数值仿真结果表明,该算法结构简单,具有较好的控制效果和工程应用前景。

For the practical engineering problems of bounded state,parameter perturbation and unpredictable tracking time in manipulator trajectory tracking control,a fixed time convergent double loop adaptive tracking control algorithm was proposed.The algorithm can predicted the trajectory tracking time of the manipulator according to the control parameters,ensured that the trajectory tracking error changed within the preset bounded range,and had strong robustness to the internal parameter perturbation and external interference of the system.Numerical simulation results showed that the algorithm had simple structure,good control effect and good engineering application prospect.