摘要
为了提高带有无界外部扰动机械臂系统的任意轨迹跟踪控制性能,将反馈线性化控制方法与不确定性和扰动估计(UDE)方法运用在机械臂的控制中。首先,给出了机械臂系统的动力学模型。然后,针对带有扰动的机械臂系统设计了反馈线性化控制器和UDE控制器,其中,轨迹跟踪由反馈线性化控制器实现,无界的外部扰动由UDE控制消除,该方法设计简单并且易于实现。最后,采用MATLAB对带有无界指数函数扰动的机械臂轨迹跟踪控制进行了仿真,验证了所提控制策略的有效性,并提高了机械臂系统的稳定性。
In order to address the problem of arbitrary trajectory tracking control of a robotic arm containing complex external unbounded disturbances,a feedback linearization control method based on uncertainty and disturbance estimation(UDE)is proposed.First,the dynamics model of the robotic arm system is given.Then,a feedback linearization controller and a UDE controller are proposed for the robotic arm system containing disturbance,where the trajectory tracking is achieved by the feedback linearization control and the unbounded external disturbance is controlled by the UDE,which is simple in design and easy to implement.Finally,MATLAB is used to simulate the trajectory tracking control of the robotic arm containing unbounded index disturbance,which verifies the effectiveness of the proposed control strategy and improves the stability of the robotic arm system.
作者
宋聪
王佐勋
SONG Cong;WANG Zuoxun(School of Information and Automation Engineering,Qilu University of Technology(Shandong Academy of Sciences),Jinan 250353,China)
出处
《齐鲁工业大学学报》
CAS
2023年第2期8-12,25,共6页
Journal of Qilu University of Technology
关键词
机械臂
轨迹跟踪
无界扰动
UDE
robot manipulators
trajectory tracking
unbounded disturbance
UDE
