经实验验证的用于控制无刷直流电机驱动的机器人机械手的鲁棒后步法

IF 5.4 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice Pub Date : 2024-09-06 DOI:10.1016/j.conengprac.2024.106073

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引用次数: 0

摘要

本研究介绍了无刷直流电机驱动机器人机械手的鲁棒后步进控制器的设计和相应稳定性分析。通过基于 Lyapunov 的论证，验证了机械和电气子系统的整体稳定性。尽管存在与机械和电气执行系统动态参数相关的不确定性，但所提出的方法实现了所需关节水平轨迹的全局实际跟踪（即全局均匀终极约束）。本文介绍了在一个通过无刷直流电机驱动的自制双链路机器人装置上进行的实验研究，以说明所提方法的性能和可行性。

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An experimentally verified robust backstepping approach for controlling robotic manipulators actuated via brushless DC motors

This work presents the design and the corresponding stability analysis of a robust backstepping controller for robot manipulators driven by brushless DC motors. The overall stability of the mechanical and electrical subsystems is validated via Lyapunov based arguments. The proposed methodology achieves global practical tracking (i.e., globally uniformly ultimate boundedness) of the desired joint level trajectories despite the presence of uncertainties associated with the dynamical parameters of the mechanical and the electrical actuation system. Experimental studies performed on an in house built 2 link robotic device actuated via brushless DC motors are presented to illustrate the performance and feasibility of the proposed method.

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来源期刊

Control Engineering Practice 工程技术-工程：电子与电气

CiteScore

9.20

自引率

12.20%

发文量

183

审稿时长

44 days

期刊介绍： Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.