基于组合非线性反馈技术的机器人控制方法

摘要

To solve the problem that in robot tracking control, the respond speed is in contradiction with the overshoot, the paper proposes a controller for robot manipulators based on the composite nonlinear feedback technique. The controller consists of two parts, one of which is for the linearization of the feedback through a compensation for robot nonlinear dynamics, and the other is for the stability through the composite nonlinear feedback law. With the feedback linearization technique and the Lyapunov theory, the asymptotic stability of the closed system is proved. And the composite nonlinear feedback theory is extended to the control of time-varying trajectory tracking of multiple-input multiple-output (MIMO) linear systems with actuator saturation. The method takes advantage of a varying damping ratio induced by the nonlinear terms, so that the system achieves the fast transient response without overshoot. The simulation results show the feasibility of the proposed method.%为解决机器人跟踪控制中响应速度和超调量之间的矛盾,实现快速的响应和较小的超调,研究了机器人非线性动力学与组合非线性反馈技术相结合的控制策略,提出了一种基于组合非线性反馈的机器人控制器.该控制器由两部分组成,一部分由完全的机器人非线性动力学补偿来实现反馈线性化,另一部分由组合非线性反馈技术实现镇定.通过反馈线性化技术与Lyapunov理论,证明了闭环系统的渐近稳定性.同时,把组合非线性反馈理论拓展到多输入多输出(MIMO)饱和线性系统的时变轨迹跟踪控制,利用非线性项的变阻尼特性,使得系统的动态响应快速且没有超调.仿真结果证实了此方法的有效性.