机械手输出反馈控制的新方法

A NEW OUTPUT FEEDBACK CONTROL STRATEGY FOR MANIPULATORS

本文将滑动模设计思想转变为较弱的滑动域吸引性设计,并以此提出了一种机械手速度观测方案,证明了观测误差的一致有界性,进而将这一观测方法应用于控制器设计中,并给出了控制误差上限,这一误差限与观测噪声限有关,而与实际运动轨迹无关,所以该方法具有较高的实用性和鲁棒性,实验结果验证了它的有效性.

This paper changes sliding surface into sliding zone and presents a new velocity observer for robotic track-ing control.This robotic observer is quite different from regular observer and can guarantee that the observa-tion error is uniformly bounded.By means of it,a robust controller is derived.The control accuracy is alsoirrelevant to motion trajectory.This observer based control scheme is easy to implement and robust to robot-ic uncertainty.Experiments have been carried out to illustrate the efficiency of the algorithm.