摘要
针对具有模型不确定和外部扰动的多关节机械手轨迹跟踪问题,提出了一种基于干扰观测补偿的预测控制方法。首先,将模型不确定和外部扰动视为机械臂的总和扰动,采用扩张状态观测器(ESO)对总和扰动进行动态估计和补偿,提高系统的抗干扰能力。然后,对总和扰动以外的名义系统采用模型预测控制方法进行优化控制,使得系统具有较好的动态性能。最后,将所提出的控制器设计方法应用于KUKA youBot 5自由度机械臂的轨迹跟踪,并实验验证了所提方法的有效性。
A model predictive control method is studied based on extended state observer(ESO)method for trajectory tracking control of robot manipulators with model uncertainties and external disturbances.The model uncertainty and external disturbance are treated as lumped disturbance of the manipulator,and linear extended state observers are designed to estimate and reject the lumped disturbance.A model predictive controller is then designed for the robot manipulator without the lumped disturbance to realize the trajectory tracking,and the parameters of controllers are not needed to tune in the proposed design method.Moreover,the asymptotic stability of the extended state observers is analyzed.Finally,the proposed predictive control method is applied to trajectory tracking of KUKA youBot robot manipulators with 5-DoF,and the experiment results show the effectiveness of the proposed method.
作者
严涛
仇翔
刘安东
俞立
Yan Tao;Qiu Xiang;Liu Andong;Yu Li(College of Information Engineering,Zhejiang University of Technology,Hangzhou 310023)
出处
《高技术通讯》
EI
CAS
北大核心
2019年第9期925-933,共9页
Chinese High Technology Letters
基金
NSFC-浙江两化融合项目(U1709213)
浙江省自然科学基金重点(LY17F030019)资助项目
关键词
机械臂
轨迹跟踪
扩张状态观测器(ESO)
预测控制
robot manipulator
trajectory tracking
extended state observer(ESO)
model predictive control
