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针对非线性不确定机器人系统的轨迹跟踪控制问题,在传统PID控制器的基础上,设计带观测器的无模型连续控制器.控制器由PD控制部分和非线性积分部分组成,其中PD控制部分用于镇定系统,非线性积分部分用于提高算法的收敛速度,同时考虑到速度信号不易获取,引入线性观测器估计机器人关节的速度,并在理论上证明了观测误差和跟踪误差最终趋向于零.在SCARA机器人的两个旋转关节上进行轨迹跟踪试验,结果表明,采用该控制算法得到了理想的控制性能,在同样的反馈增益下,采用观测器后的平均跟踪误差和最大跟踪误差降低了30%以上,而控制输出的震荡程度只有无观测器时的60%.
Aiming at the trajectory tracking control problem of nonlinear uncertain robot system, a model-free continuous controller with observer is designed on the basis of traditional PID controller.The controller consists of PD control part and non-linear integral part, in which PD control part Which is used to stabilize the system. The non-linear integral part is used to improve the convergence speed of the algorithm. At the same time, taking into account that the velocity signal is not easy to obtain, a linear observer is introduced to estimate the velocity of the robot joint. Theoretically it is proved that the observation error and the tracking error finally converge to zero The trajectory tracking experiments on two rotating joints of SCARA robots show that the ideal control performance is obtained by using this control algorithm and the average tracking error and the maximum tracking error after observer are reduced under the same feedback gain 30% or more, while the output of the control shock only 60% of the time without observer.