柔性关节机器人的位置反馈动态面控制

摘要

To achieve tracking control of link position, a position feedback dynamic surface controller was proposed for flexible-joint robots with external disturbances. An observer was designed to estimate unknown system states. The dynamic surface control method was used to eliminate the problem of “explosion of complexity”existing in traditional backstepping approach with the introduction of low pass filters. The controller design procedure was simplified dramatically. From Lyapunov stability analysis, it was shown that the control strategy could guarantee the semi-global stability of the closed-loop system and arbitrarily small tracking error by adjusting the controller parameters. Theoretic analysis and simulation results indicate that the proposed control system can reduce the requirement of state measurement, lighten the computational burden and achieve accurate tracking control for link position. Furthermore, the control system shows robustness to external disturbances.%针对带有外界干扰的柔性关节机器人系统，提出一种位置反馈动态面控制，以实现机器人连杆的角位置跟踪。设计一种观测器估计系统未知状态，引入一阶低通滤波器，利用动态面控制方法避免传统反演设计存在的“微分爆炸”现象，简化设计过程。通过Lyapunov方法证明得出闭环系统所有信号半全局一致有界，跟踪误差可以通过调节控制器参数达到任意小。理论分析和仿真结果表明，该方法能降低对状态的测量要求，减轻计算负担，实现连杆位置的准确跟踪，并具有一定的鲁棒性。