基于非线性干扰观测器的液压机械臂反演鲁棒控制

Backstepping Robust Control of Hydraulic Manipulator Based on Nonlinear Disturbance Observer

针对液压机械臂中存在的高度非线性、未建模摩擦力、外部随机干扰等问题,建立液压机械臂动力学模型,提出一种基于非线性干扰观测器的反演鲁棒控制方法。非线性干扰观测器可以对系统中存在的干扰进行观测与补偿,从而提高反演鲁棒控制器的控制性能。对所提控制方法的稳定性进行理论推导与分析,并通过AMESim、MATLAB/Simulink联合仿真验证其有效性。仿真研究表明:该控制方法能够准确观测与补偿未知干扰,控制效果明显优于PID以及反演鲁棒控制。

Aiming at the problems of high nonlinearity,unmodeled friction forces,and external random disturbances in hydraulic manipulators,a dynamic model of the hydraulic manipulator was established,and a backstepping robust control method based on a nonlinear disturbance observer was proposed.The disturbance in the system could be observed and compensated by the nonlinear interference observer,so the control performance of the backstepping robust controller could be improved.The stability of the proposed control method was theoretically derived and analyzed,and its effectiveness was validated by AMESim and MATLAB/Simulink co-simulation.Simulation results show that this control method can be used to accurately observe and compensate for unknown disturbances,and its control performance is significantly superior to PID and backstepping robust control.