摘要
针对双连杆柔性机器人臂,设计了非线性自适应鲁棒控制器,该控制器基于动态反馈,实现刚性模式鲁棒调节及弹性振动抑制。由于高度非线性双连杆柔性机器人臂受间隙、有效载荷变化及外部干扰等不确定因素影响,非线性自适应鲁棒控制器设计具有较大挑战性。该设计针对未知干扰,通过内部模型与鲁棒稳定器并行的方式进行自适应调整,稳定器采用进化算法进行优化,提高了自适应鲁棒性。
A nonlinear adaptive robust controller is designed for a two-link flexible robot arm. The controller was based on dynamic feedback to realize robust adjustment of rigid mode and elastic vibration suppression. Due to the uncertain factors such as clearance,payload change and external interference,the design of nonlinear adaptive robust controller was very challenging. For the unknown disturbance of design,the internal model and the robust stabilizer were adjusted adaptively in parallel. The stabilizer is optimized by evolutionary algorithm to improve the adaptive robustness.
作者
韩亚丽
刘聪
郭亚男
HAN Yali;LIU Cong;GUO Yanan(College of Information&Business,Zhongyuan University of Technology,Zhengzhou Henan 451191,China)
出处
《机床与液压》
北大核心
2020年第3期47-51,23,共6页
Machine Tool & Hydraulics
基金
河南省科技攻关项目(162102210323)
河南省高等学校重点科研项目(19B470011)
中原工学院信息商务学院校级科研项目(ky1917)。
关键词
柔性机器人
自适应鲁棒控制
内部模型方法
进化算法
Flexible robot
Adaptive robust control
Internal model approach
Evolutionary algorithm
