一类新的基于能量的旋转机械臂控制律:跟踪控制、鲁棒增强和自适应控制

J. Wen, K. Kreutz, D. Bayard
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引用次数: 5

摘要

介绍了一类新的全转动机械臂关节水平控制律。该分析类似于最近提出的能量Lyapunov函数方法[1,2],不同之处在于闭环势函数是根据底层关节空间拓扑构造的。利用带修正势能的能量Lyapunov函数,可以更简单地证明闭环的全局渐近稳定性和局部指数稳定性。当存在库仑摩擦和粘性摩擦以及模型参数误差时,提出了一种类似滑模的控制律修改方法,以增加增强鲁棒性的外环。自适应控制也在同一框架内解决。采用参数线性化的方法,将非自适应控制律中的模型参数替换为模型参数的估计,得到全局渐近稳定的自适应控制律。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A New Class of Energy Based Control Laws for Revolute Robot Arms: Tracking Control, Robustness Enhancement and Adaptive Control
A new class of joint level control laws for all-revolute robot arms is introduced in this paper. The analysis is similar to the recently proposed energy Lyapunov function approach [1, 2], except that the closed loop potential function is shaped in accordance with the underlying joint space topology. By using energy Lyapunov functions with the modified potential energy, a much simpler analysis can be employed to show closed loop global asymptotic stability and local exponential stability. When Coulomb and viscous friction, and model parameter errors are present, a sliding-mode-like modification of the control law is proposed to add a robustness enhancing outer loop. Adaptive control is also addressed within the same framework. A linear-in-the-parameters formulation is adopted and globally asymptotically stable adaptive control laws are derived by replacing the model parameters in the non-adaptive control laws by their estimates.
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