输入幅值及其变化率受限下的机械臂预设性能控制

Prescribed Performance Control for Robotic Manipulators with Control Input Amplitude and Rate Constraints

针对输入幅值以及输入变化率受限的机械臂轨迹跟踪控制问题,设计了一种新的鲁棒自适应预设性能控制方案.相关控制策略采用嵌套平滑饱和函数约束系统状态以确保闭环系统满足预设的瞬态和稳态性能指标,同时考虑系统控制信号的幅度及其变化率的限制,避免系统因控制信号发生突变对系统稳定性产生影响.此外,由于无需对不确定动力学进行估计或者补偿,所提出的控制算法复杂度低,增益选择简单,易于在机械臂系统中实现.最后,通过对机械臂模型进行仿真验证所提出方法的有效性和可行性.

This paper proposes a new adaptive prescribed performance control scheme for robotic manipulator systems with amplitude and rate saturation on the control input signal.The proposed control strategy employs nested smooth saturation functions to constrain the system state while ensuring that the closed-loop system satisfies the prescribed transient and steady-state performance.The constraints on the amplitude and rate of the system control signal are considered to avoid the impact of sudden changes in the control signal on the system stability.Furthermore,since there is no need to estimate or compensate for uncertain dynamics,our control algorithm has low algorithmic complexity and simple gain selection,facilitating the practical implementation of robotic systems.Finally,the effectiveness and feasibility of the method are verified through robotic manipulator simulation.