【作者】 郑柏超；

【导师】 王银河；

【作者基本信息】 汕头大学 ， 应用数学， 2008， 硕士

【摘要】 机器人系统是一个高度非线性的系统,带有十分复杂的时变、强耦合等特点.机器人系统动态控制的目的之一是要使机器人的各关节或末端执行器的位置和姿态能够以理想的动态品质跟踪给定的轨迹.在实际工程中,由于各种不确定性因素的存在,诸如参数误差,未建模动态,观测噪声,动静摩擦,负载变化,以及不确定性的外在干扰等等,往往难以得到精确的机器人系统模型.这就使得设计一个不依赖于机器人系统不确定性的控制器,使其实际控制系统在有不确定性存在的情况下,仍能很好的满足预期的性能品质这一鲁棒性问题成为近十几年来机器人控制领域的一个热点课题之一.另外,随着工程技术水平的不断提高,互联机器人系统的研究也是一个重要的研究课题之一.本文主要针对参数和结构不确定互联机器人的轨迹跟踪控制问题进行了初步的研究,提出了几种有效的控制策略.主要研究工作如下:一针对一类带有不确定性的互联机器人系统,基于Lyapunov设计方法,设计了一个非线性鲁棒轨迹跟踪集中控制器.这个控制器能够保证被控互联机器人系统的位置向量与速度向量渐近地跟踪已知的轨迹.二研究互联机器人系统在受到模型不确定性和外部干扰情况下的鲁棒轨迹跟踪问题.针对系统中存在的不确定动力学问题,在不确定项的连续界函数已知的情况下,基于Lyapunov设计方法提出一种鲁棒分散控制器的设计方法,实现互联机器人系统位置向量和速度向量的渐近跟踪.三研究一类存在模型不确定性和外部扰动的互联机器人系统的控制问题.控制器由一般线性控制器,线性自适应控制器和非线性自适应控制器综合构成.通过Lyapunov理论证明了所设计的鲁棒分散自适应控制器能够有效地克服不确定性对系统的影响,实现闭环系统的渐近轨迹跟踪控制.本文不仅对于上述的研究成果进行了细致严密的理论推导证明,而且还都通过给出的仿真算例进一步验证了控制器设计的有效性和正确性.更多还原

【Abstract】 Robot system is a high nonlinear system with very complicated time-varied, strong-coupled characters. One of the dynamic control aims is to make the positions and orientations of every joints and end effectors track given trajectories with ideal dynamic performance. In practical engineering, there are lots of uncertain factors, such as parameter errors, unmodelled dynamics, observer yawps, frictions, payload change, and uncertain external disturbances. So, it is difficult to derive the precise robot model. In recent ten years, the robustness about how to design controllers for robots, without depending on uncertainties, to reach the desired performance is a hot question. In addition, with the improvement of engineering technique levels, it will become one of important research tasks on interconnected robot system.In the paper, there are some preliminary research on the uncertain parameters and structures of interconnected robotic model in the trajectory tracking. Several effective control strategies are presented. The main contents are shown as follows:First. According to the Lyapunov method, a nonlinear robust tracking controller is proposed for a class uncertain interconnected robot system. The controller can guarantee that position vector and velocity vector of interconnected robot systems track the given trajectory asymptotically.Second. This paper investigates the robust trajectory tracking strategies for a class of interconnected robot systems with uncertainties. Based on the continuous known bounded functions of uncertainties and Lyapunov method, the decentralized robust controllers are proposed. The controllers can guarantee that the position vectors and velocity vectors of interconnected robot systems can track the given trajectory asymptotically.Third. A decentralized robust adaptive control scheme for a class interconnected robot system with modeling uncertain and exterior disturbances. The proposed controller is a composition of general linear controller, linear adaptive controller and nonlinear adaptive controller. It is proved by Lyapunov theories that the controller is capable of overcoming the uncertain effect effectively and realizing the trajectory tracking asymptotically to the closed-loop systems.All the research results above not only are proved strictly and carefully in theories, but are shown effectively and correctly by the given examples in this paper.更多还原