作　　者： ; ; ; ;

机构地区： 燕山大学电气工程学院

出　　处： 《计算机仿真》 2009年第2期174-178,共5页

摘　　要： 由于不连续性普遍存在于机械系统中,它的存在降低了系统的性能。而实际系统中各种干扰也是不可避免的,这就需要机械系统具有一定的干扰抑制能力。针对机械手不连续的不确定性以及外界干扰的存在,利用Filippov解的定义及其相关的非光滑系统的Lyapunov稳定理论,设计了具有L2干扰抑制的鲁棒轨迹跟踪控制器。所获得的非光滑鲁棒控制器,在Filippov框架下能够确保闭环误差系统稳定,实现干扰的有效抑制。最后利用Matlab仿真软件给出两连杆的机械手仿真结果,验证了该算法的有效性。 Due to discontinuous characteristic presented in the mechanism everywhere, performance of system is degraded. But not all kinds of disturbances are avoidable, it is necessary for mechanical system to have the performance of disturbance attenuation. In view of discontinuous uncertainty and external disturbances presented in robot manipulators system, a robust trajectory tracking controller with L2 - gain disturbance attenuation is proposed by using the definition of Filippev solution and the related Lyapunov stability theory for nonsmooth systems. The proposed robust nonsmooth controller in Filippov＇s framework can guarantee the error close - loop system＇s stability and attenuate the external disturbances effectively. Finally, simulation results of a two degrees - of - freedom manipulator by the Matlab soft ware show the effectiveness of the propesed algorithm.

关 键 词： 机械手 不连续的不确定性 干扰抑制 轨迹跟踪

领　　域： [自动化与计算机技术] [自动化与计算机技术]