A robust control system for exact trajectory tracking.

摘要

The research goal for this dissertation is to develop a method of designing robust control systems for trajectory tracking problems, such as those encountered in the design of industrial manipulators or robots.;Inverse controllers are chosen for the trajectory tracking control problem, and are discussed in discrete time form, continuous time domain and in the frequency domain. The relationship between exact tracking ability and the controllability of the system is proved in the discrete time case for the first time. The implementation of inverse controllers in continuous form is presented for many cases of tracking problems. The robustness of the closed loop system is studied. A new combined system of LQ-optimal full state feedback and an inverse controller is suggested for trajectory tracking problems. Several state observers are discussed for use in trajectory tracking when the full states are not available directly. The problem of observers with loop transfer recovery for a second order system is discussed in particular. A new method of function estimator design for some second order systems and non-regular systems to reach approximate LTR is presented. Three examples are used to demonstrate the control schemes and the observer design method.