摘要
为实现对多自由度机械臂关节运动精确轨迹跟踪,提出一种基于非线性干扰观测器的广义模型预测轨迹跟踪控制方法。针对机械臂轨迹跟踪运动学子系统,采用广义预测控制(Generalized Predictive Control,GPC)方法设计期望的虚拟关节角速度。对于机械臂轨迹跟踪动力学子系统,考虑机械臂的参数不确定性和未知外界扰动,利用GPC方法设计关节力矩控制输入,基于非线性干扰观测器方法实时估计和补偿系统模型中的不确定性。在李雅普诺夫稳定性理论框架下证明了机械臂关节角位置和角速度的跟踪误差最终收敛于零的小邻域。数值仿真验证了所提出控制方法的有效性和优越性。
In order to realize the accurate trajectory tracking of the multi-degrees of freedom robotic manipula-tors in the joint motion space,a robust generalized predictive control method based on the nonlinear disturb-ance observer method is proposed.For the kinematic subsystem of the robotic manipulator tmajectory tracking missions,the desired angular velocity trajectory is developed by the generalized model predictive control theo-ry.Then,considering the parametric uncertainties and unknown external disturbances for the dynamic subsys-tem of the robotic manipu lator trajectory tracking missions,the GPC method is adopted to design the torque control input,the nonlinear disturbance observer is employed to compensate the lumped unk nown peturbations in the dynamics.Under the framework of Lyapunov stability theory,it is proved that the joint angle trajectory tracking errors and angular velocity tracking errors ultimately converge to the small neighborhoods of zero.The effectiveness and advantages of the proposed method are finally verified by mumerical simulations.
作者
卢紫超
李通
孙泽文
田霖
孙亮
刘冀伟
LU Zichao;LI Tong;SUN Zewen;TIAN Lin;SUN Liang;LIU Jiwei(School of Inelligence Science and Technology,University of Science and Technology Bejing,Beijng 100083.Cina;The 101 Research Institute,Ministry of Civil Affairs of the People's Republic of China,Bejing 100070,Gina;School of Automation and Electrical Engineering University of Science and Technology Beijing,Bejjing 100083,Cina)
出处
《测控技术》
2023年第9期81-87,共7页
Measurement & Control Technology
基金
国家自然科学基金(61903025)
北京科技大学青年教师学科交叉研究项目(FRF-IDRY-GD22-002)。
关键词
机械臂控制
轨迹跟踪
广义预测控制
干扰观测器
稳定性分析
robotice manipulator control
trajectory tracking
GPC
disturbance observer
stability analysis
