机器人自适应PID饱和输出反馈控制

摘要

A novel adaptive PID control algorithm is proposed for trajectory tracking of robot manipulators with only position measurements,limited torques,modeling uncertainties and disturbances. A high precise filter is used to estimate the joint velocity of the manipulators,a controller with saturation function is used to restrict the torque output,and an adaptive PID controller is used to compensate the modeling uncertainties and disturbances. The stability of the system is guaranteed using the Lyapunov direct method. The simulation results based on a two-joint robot manipulator show that the presented controller performs well in application.%针对机器人系统在仅有位置传感、驱动器饱和、存在建模不确定性及干扰等条件下的轨迹跟踪控制问题,提出了一种新的自适应PID控制方案.采用高精度滤波器估计机器人关节速度,采用带饱和函数的控制器限制输出力矩,采用自适应PID控制器补偿建模不确定性和干扰.通过Lyapunov直接法,证明系统的稳定性.最后以两关节机器人为例,给出仿真实验结果,验证了算法的有效性.