【作者】 石宗英； 钟宜生； 徐文立；

【Author】 Shi Zongying Zhong Yisheng Xu Wenli (Department of Automation, Tsinghua University, Beijing 100084, China)

【机构】 清华大学自动化系；

【摘要】 本文针对包含驱动器动力学的不确定机器人的跟踪控制问题,提出了一种新的分散控制器设计方法。该控制器分两步设计:首先引入人工标称模型,并基于参考模型设计相应的标称控制器;然后设计鲁棒补偿器以抑制非线性耦合、关节摩擦、参数不确定性、和外扰等因素的影响。所设计的鲁棒控制器是具有两环结构的线性时不变控制器。理论分析及仿真结果证明,在具有足够带宽的情况下,不需要测量电枢电流,该控制器可以保证跟踪误差局部终值有界,并具有可在线调整的特点。更多还原

【Abstract】 A new design method of decentralized robust tracking controller for uncertain robots with actuator dynamics. The controller is designed in two steps: Firstly, an artificial nominal model is introduced and its nominal controller is designed based on a reference model. Then a robust compensator is added to restrain the influence of nonlinear couplings, joint frictions, parameter uncertainties, external disturbances and so on. The robust controller is a linear time-invariant controller with two loops. By applying the controller with a sufficiently wide frequency bandwidth, without the measurement of motor’s armature currents, local uniform ultimate boundedness is achieved, which is verified in theoretical proof and simulation results. In addition, the controller has the characteristic of tuning on-line.更多还原