摘要
针对存在各种干扰的不确定工业机器人复杂系统,提出了一种基于干扰观测器的有限时间稳定性控制方法。该方法将六自由度工业机器人简化为三自由度,其它三自由度的动力学效应看作外界干扰,并利用非线性干扰观测器进行在线估计,因而算法较简单,其估计误差由变结构项进行补偿,故具有较强的鲁棒性。利用有限时间稳定性相关理论证明了该闭环系统是有限时间稳定的,因而收敛速度快,跟踪精度高。通过仿真说明了该算法的有效性和可行性。
It presents a finite-time stability control based on disturbance observer for complex uncertain industrial robots with various disturbances. The 6-DOF industrial robot is simplified as 3-DOF, and other 3-DOF dynamics and unknown uncertainties are expressed as the external disturbances, which are online obtained by the nonlinear disturbance observer, so the algorithm is simple. The estimation error is compensated by variable structure terms, which has strong robustness. Moreover, the finite-time stability of robot loop system is proved by finite-time stability theorem, so fast convergence, and high-accuracy are provided. Simulations demonstrate the effectiveness and feasibility of this algorithm.
出处
《机械设计与制造》
北大核心
2014年第7期179-182,共4页
Machinery Design & Manufacture
基金
广东省高等学校科技创新项目(2013KJCX0100)
湛江市科技计划项目(2012C3106006
2012A0103)
关键词
工业机器人
干扰观测器
有限时间稳定
跟踪控制
Industrial Robot
Disturbance Observer
Finite-time Stability
Tracking Control
