学术
非完整移动机械手的鲁棒控制及仿真研究
高庆吉[1] 韩伟[2] 党长河[1] 牛国臣[1]
[1]中国民航大学机器人研究所,天津300300 [2]内蒙古民族大学物理与电子信息学院,通辽028043
摘 要:
针对非完整移动机械手的模型参数不确定性提出了一种基于Lyapunov理论的鲁棒阻尼控制算法。在选定系统Lyapunov函数的基础上，证明了所选取的移动平台和机械手的控制力矩输入使系统全局渐进稳定。其中，输入力矩的计算仅依赖给定期望轨迹和传感器反馈数据且需要整定的参数少，在移动机械手的动力学模型参数未知情况下，保证闭环系统的稳定，使系统状态以任意小误差跟踪给定的期望轨迹。通过对闭环系统进行仿真实验，证明控制算法的有效性。[著者文摘]
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文章出处:
《系统仿真学报》-2007年19卷21期 -4976-4980页
栏目信息:
分 类 号:
文献标识码:
A
文章编号:
1004-731X（2007）21-4976-05
Robust Control of Nonholonomic Mobile Manipulator and Simulation
GAO Qing-ji, HAN Wei, DANG Chang-he, NIU Guo-chen （1. Robotics Institute, Civil Aviation University of China, Tianjin 300300, China; 2. College of Physics and Electronics, Inner Mongolia National University, Tongliao 028043, China）
Abstract:
A robust damping control algorithm based on Lyapunov theory was proposed aiming at the uncertainty of nonholonomic mobile manipulator model parameter. It is proved that the selected control input torques of platform and manipulator make the system globally asymptotically stable based on the Lyapunov function selected out. The calculation of the input torques only relies on the given desired trajectories and sensory data, and the parameters need to tune are few. In the case of unknown dynamics model parameters, the stability of the closed loop system is ensured, and the given desired trajectory is tracked asymptotically within any boundless small error. Simulation result with the closed loop system shows the validity of the algorithm.[著者文摘]
Key words:
mobile manipulator; robust control; Lyapunov function; trajectory tracking
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