摘要
针对环境刚度时变条件下基于参考轨迹调整的阻抗力控制方法难以保证精确力跟踪的问题,提出一种适用于变刚度环境的阻抗力控制方法.基于非自治系统的稳定性分析结果及李雅普诺夫理论,分别推导了两种仅依赖环境刚度变化范围的阻抗参数配置规则,为变刚度环境下的精确力控制提供了理论支持.仿真结果表明:在任务前只须要知道环境刚度变化的上下界,并且依据所提规则配置阻抗参数,即可保证力跟踪误差在变刚度环境下的一致指数收敛,验证了所提方法的有效性.
Aiming at the problem that under variable stiffness environments,the impedance-based force control method based on reference trajectory adjustment struggled to ensure precise force tracking,an impedance-based force control method suitable for variable stiffness environments was proposed.Based on the stability analysis results of non-autonomous systems and Lyapunov theory,two impedance parameter configuration rules were derived,which only depended on the range of environmental stiffness variation,providing theoretical support for precise force control in variable stiffness environments.Simulation results show that,prior to the task,only the upper and lower bounds of the environmental stiffness variation need to be known,and the impedance parameters configured according to the proposed rules can ensure uniform exponential convergence of the force tracking error in variable stiffness environments,verifying the effectiveness of the proposed method.
作者
余朝宝
毛建恒
刘辽雪
郭毓
YU Zhaobao;MAO Jianheng;LIU Liaoxue;GUO Yu(School of Automation,Nanjing University of Science and Technology,Nanjing 210094,China)
出处
《华中科技大学学报(自然科学版)》
北大核心
2025年第11期111-117,共7页
Journal of Huazhong University of Science and Technology(Natural Science Edition)
基金
国家自然科学基金资助项目(62403242)
江苏省自然科学基金资助项目(BK20241459)
江苏省卓越博士后计划资助项目(2023ZB186)
江苏省研究生科研与实践创新计划资助项目(KYCX24_0675)。
关键词
阻抗控制
变刚度环境
力控制
非自治系统
李雅普诺夫理论
一致指数收敛
impedance control
variable stiffness environments
force control
non-autonomous systems
Lyapunov theory
uniform exponential convergence
