摘要
针对包含多源不确定性的连续型机械臂轨迹跟踪问题,提出基于解耦双通道的线性自抗扰控制策略以抑制不确定性对跟踪性能的不利影响.首先,引入虚拟控制量实现对MIMO系统的解耦,针对解耦率已知和未知两种情况,均设计双通道线性自抗扰控制器.利用线性扩张观测器对系统不确定性进行实时补偿,并给出观测器参数整定方法,进一步基于Lyapunov稳定性理论证明了其收敛性.设计仿真,综合考虑未知解耦率、未建模动态以及未知外部干扰等情况,结果验证了本文所提控制方法的有效性.进一步将其与计算力矩法相比较,结果表明LADRC能够处理更大范围不确定性,鲁棒性更强.基于解耦双通道线性自抗扰控制策略为连续型机械臂高精度轨迹跟踪提供了新思路.
Focused on the trajectory tracking problem of continuum manipulator with multi-source uncertainties is A linear active disturbance rejection control based on decoupled dual-channel is proposed to suppress the negative impact of uncertainty on tracking performance.Firstly,the decoupling of system is achieved via virtual control variable,and a dual-channel LADRC is designed for both the known and unknown decoupling rate.The linear extended state observer(LESO)is used to compensate for the system uncertainty in real time,and the parameter tuning method of LESO is given.The convergence is proved based on the Lyapunov stability theorem.When designing the simulation,the unknown decoupling rate,unmodeled dynamics,and unknown external interference are considered comprehensively.The results verify the effectiveness of the control method proposed in this article.Further comparing it to computed torque control(CTC),the results show that LADRC can handle a larger range of uncertainties and has stronger robustness,which provides a new idea for high-precision trajectory tracking of continuum manipulator.
作者
张月龄
向国菲
税懿
佃松宜
ZHANG Yueling;XIANG Guofei;SHUI Yi;DIAN Songyi(College of Electrical Engineering,Sichuan University,Chengdu 610065,China)
出处
《空间控制技术与应用》
CSCD
北大核心
2020年第5期27-35,共9页
Aerospace Control and Application
基金
国家自然科学基金资助项目(2018YFB1307401).
关键词
连续型机械臂
强耦合MIMO系统
多源不确定性
虚拟控制量
线性自抗扰控制器
continuum manipulator
strong coupled MIMO system
multi-source uncertainties
virtual control variable
linear active disturbance rejection control
