摘要
本文对具有不确定和干扰的二自由度电动陶瓷取坯机械手系统动态模型 ,采用李雅普诺夫函数递推设计方法设计了鲁棒跟踪控制器。所设计的控制器不仅保证跟踪误差系统的稳定性而且使得由力矩干扰到跟踪误差评价信号的L2 增益小于给定的值。同时本文也给出了不用解HJI不等式设计陶瓷取坯机械手H∞ 控制器方法 。
In this paper,based on Lyapunov backstepping design,a robust tracking controller for 2 degree of freedom electrically driven ceremic manipulators with uncertainty and disturbancd is derived.The tracking performance is evaluated by L\-2-gain from a toraue level disturbance signal to a penalty signal of the tracking error between outputs of the manipulator and desired trajectories.The controller designed guarantees not only stability of a tracking error system but also an L\-2-gain constraint.Our approach provides a closed-form solution for ceremic manipulator H\-∞ control problem without using a Hamilton-Jacobi inequality.Simulation results show that the controller exhibits an excellent tracking performance and robustness.
出处
《中国陶瓷》
CAS
CSCD
2002年第5期28-31,共4页
China Ceramics
