摘要
采用分散控制策略和非线性 PID控制算法 ,实现 6自由度并联机器人的高精度轨迹跟踪控制。该非线性 PID控制器由两个二阶非线性微分跟踪器提供高质量的微分信号 ,并采用非线性组合形成控制作用 ,从而确保了高控制性能的实现。实验结果验证了非线性控制方案的有效性。
A decentralized control strategy and a nonlinear PID (N-PID) algorithm in joint space are proposed to realize the high precision tracking control of a 6 DOF parallel manipulator. The proposed N-PID consists of two nonlinear tracking differentiators to provide high quality differentiate signals under unknown disturbance and measurement noise.And a nonlinear combination of the three elements is used to give the control action so that the superior performance can be guaranteed. The effectiveness of this method is validated by the experimental results.
出处
《控制与决策》
EI
CSCD
北大核心
2003年第4期490-493,共4页
Control and Decision
基金
国家自然科学基金资助项目 (5 0 0 75 0 6 5 )
陕西省自然科学基金资助项目 (2 0 0 0 C2 2 )
中科院机器人学开放研究实验室基金资助项目 (RL 2 0 0 10 4 )
