| 摘要: |
| 针对机械臂终端受环境约束而产生的位置/力控制问题,提出一种鲁棒自适应控制算法。该方案采用反步法的思想设计具有全局收敛特性的位置/力控制器,根据坐标变换得到降阶的动力学模型,设计中考虑了驱动电机模型使控制器更符合实际控制要求,并将其分解为动力学控制器和电机控制器两部分以降低设计难度。利用自适应方法对动力学模型中的非线性部分和未知扰动进行补偿,采用鲁棒控制克服电机参数的不确定性的影响。二自由度机械臂的仿真结果表明,系统能快速有效跟踪参考信号,说明该控制器是有效的。 |
| 关键词: 刚性机械臂 反步法 鲁棒自适应控制 位置/力跟踪 |
| DOI：10.3969/j.issn.1673-5005.2014.01.027 |
| 分类号:TP 24 〖HTH〗 |
| 基金项目:国家自然科学基金项目(60974039) |
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| Robust adaptive motion/force control for manipulators using backstepping |
|
LI Shu-rong1, MA Hui-chao2
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(1.College of Information and Control Engineering in China University of Petroleum, Qingdao 266580, China;2.SINOPEC Tianjin Liquefied Natural Gas Company, Tianjin 300457, China)
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| Abstract: |
| The motion/force control of the constrained manipulator was discussed. A robust adaptive control strategy based on backstepping method was proposed for designing a globally stable motion/force tracking controller, a reduced dynamic model was obtained according to the nonlinear translation, a motor model was considered to make the controller more suitable for practical requirements, and the controller was divided into two parts including a dynamic controller and a motor controller, which makes the design easy. Self-adaption technique was used for compensating the dynamic modeling uncertainties and disturbances, and robust control was adopted to achieve the robustness of the motor parameter uncertainties. The simulation results of two degrees of freedom manipulator show prompt and accurate response of the controller to the reference signal, suggesting that the designed controller is valid. |
| Key words: rigid manipulator backstepping robust adaptive control motion/force tracking |
