基于PD控制的机器人轨迹跟踪性能研究与比较

Comparative research of trajectory tracking performanceJZ]of robotic manipulator based on PD control scheme

定义同一个 L yapunov函数 ,分析了基于 PD的 3种常用机器人轨迹跟踪算法的稳定性和鲁棒性 ,得到了新的结论。PD加前馈控制按指数收敛到 0 ,PD及修改的 PD加前馈控制收敛到一封闭球 ,增大反馈系数可使球半径任意小。基于 PD的轨迹跟踪算法对模型误差及有界不确定性干扰具有鲁棒性。实验研究验证了分析结果 ,并对 3种轨迹跟踪算法的控制性能进行比较。

For the trajectory tracking of robotic manipulator, the stability and robustness of three kinds of control schemes based on PD control are analyzed. The tracking errors of PD control with feedforward compensation exponentially converge to zero and the tracking errors of PD control and modified PD with feedforward compensation exponentially converge to a closed ball. The ball radius can be set arbitrarily small by increasing feedback gains. These control schemes have robustness to model errors and bounded uncertain disturbances. The experiments of 2 DOF direct driven robotic manipulator demonstrate the control performance.