电动机械臂的自适应无模型控制

A. Saleki, M. Fateh
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引用次数: 1

摘要

提出了一种无模型的机器人操纵臂控制方法。这种方法的控制信号是电机的电压,可以直接使用。对于每个机械手关节,考虑一个基于机械手输入和输出的局部模型,并且每个关节都是独立控制的。实现这种方法所需的唯一信息是电机的电压和关节的位置,这两者都很容易测量。在这种方法中,所有系统动力学和外部干扰都被认为是一个未知项,使用从李亚普诺夫理论中获得的自适应律来估计。设计的控制律简单,保证了控制器的稳定性。仿真和对比结果验证了该方法的有效性。
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Adaptive Model-Free Control of Electrically Driven Robot Manipulators
This paper presents a Model-Free approach for robot manipulators control. The control signal in this approach is the motors' voltage, and can be directly used. For each of the manipulator joints, a local model is considered, which is based on the manipulator's input and output, and each joint is controlled independently. The only information needed for implementation of this method is the motors' voltage and the position of the joints, which are both easily measurable. In this approach, all system dynamics and external disturbances are considered as an unknown term, that is estimated using an adaptive law obtained from the Lyapunov theory. The designed control law is simple, and controller stability is guaranteed by using this theory. Simulation results and comparison verify the effectiveness of the proposed approach.
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