考虑工业机器人系统存在的参数未知、负载突变及外界干扰等各种不确定性,提出了一种有限时间稳定性的轨迹跟踪控制方法.该方法利用时延实时在线估计系统的各种不确定性和实际动力学特性,其估计误差由变结构项进行补偿,因而具有较强的鲁棒性和抗干扰性能,并且不需要机器人系统复杂的动力学模型知识.理论分析证明了机器人的闭环系统是有限时间稳定的,收敛速度快,跟踪精度高.通过对2自由度工业机器人的数值仿真说明了该算法的有效性.%Consider various uncertainties of complex industrial robots, such as parameters uncertainties, load mutation and external disturbances,this paper presents a trajectory tracking control method based on finite-time stability theorem. In this method,the various uncertainties and actual dynamics are online obtained by the time-delay estimation, the estimation error is compensated by variable structure terms, which has strong robustness. Thus, the proposed method doesn' t require knowledge of the complex dynamic mode of the robot system. The finite-time stability of robot loop system is proved by finite-time stability theorem, fast convergence and high-accuracy are provided. Simulations on a 2-DOF industrial robot demonstrate the effectiveness of this algorithm.
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