具有外部扰动的机器人机械臂无速度任务空间调节器

IF 4.8 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica Pub Date : 2025-04-11 DOI:10.1016/j.automatica.2025.112294

Haiwen Wu , Bayu Jayawardhana , Dabo Xu

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引用次数: 0

摘要

研究了受外界干扰的机器人操作臂的任务空间鲁棒调节问题。将内模原理与基于无源的输出反馈控制方法相结合，提出了一种无速度控制律。所得到的控制器不仅保证了调节误差的渐近收敛，而且抑制了不必要的外部正弦干扰。该方法的潜力在于其简单、直观和直接的增益选择准则，可用于多关节机器人机械手控制系统的综合。

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Velocity-free task-space regulator for robot manipulators with external disturbances

This paper addresses the problem of task-space robust regulation of robot manipulators subject to external disturbances. A velocity-free control law is proposed by combining the internal model principle and the passivity-based output-feedback control approach. The resulting controller not only ensures asymptotic convergence of the regulation error but also rejects unwanted external sinusoidal disturbances. The potential of the proposed method lies in its simplicity, intuitiveness, and straightforward gain selection criteria for the synthesis of multi-joint robot manipulator control systems.

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来源期刊

Automatica 工程技术-工程：电子与电气

CiteScore

10.70

自引率

7.80%

发文量

617

审稿时长

5 months

期刊介绍： Automatica is a leading archival publication in the field of systems and control. The field encompasses today a broad set of areas and topics, and is thriving not only within itself but also in terms of its impact on other fields, such as communications, computers, biology, energy and economics. Since its inception in 1963, Automatica has kept abreast with the evolution of the field over the years, and has emerged as a leading publication driving the trends in the field. After being founded in 1963, Automatica became a journal of the International Federation of Automatic Control (IFAC) in 1969. It features a characteristic blend of theoretical and applied papers of archival, lasting value, reporting cutting edge research results by authors across the globe. It features articles in distinct categories, including regular, brief and survey papers, technical communiqués, correspondence items, as well as reviews on published books of interest to the readership. It occasionally publishes special issues on emerging new topics or established mature topics of interest to a broad audience. Automatica solicits original high-quality contributions in all the categories listed above, and in all areas of systems and control interpreted in a broad sense and evolving constantly. They may be submitted directly to a subject editor or to the Editor-in-Chief if not sure about the subject area. Editorial procedures in place assure careful, fair, and prompt handling of all submitted articles. Accepted papers appear in the journal in the shortest time feasible given production time constraints.