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机器人系统非线性分散重复学习轨迹跟踪控制

田慧慧 苏玉鑫

田慧慧, 苏玉鑫. 机器人系统非线性分散重复学习轨迹跟踪控制. 自动化学报, 2011, 37(10): 1264-1271. doi: 10.3724/SP.J.1004.2011.01264
引用本文: 田慧慧, 苏玉鑫. 机器人系统非线性分散重复学习轨迹跟踪控制. 自动化学报, 2011, 37(10): 1264-1271. doi: 10.3724/SP.J.1004.2011.01264
TIAN Hui-Hui, SU Yu-Xin. Nonlinear Decentralized Repetitive Control for Global Asymptotic Tracking of Robot Manipulators. ACTA AUTOMATICA SINICA, 2011, 37(10): 1264-1271. doi: 10.3724/SP.J.1004.2011.01264
Citation: TIAN Hui-Hui, SU Yu-Xin. Nonlinear Decentralized Repetitive Control for Global Asymptotic Tracking of Robot Manipulators. ACTA AUTOMATICA SINICA, 2011, 37(10): 1264-1271. doi: 10.3724/SP.J.1004.2011.01264

机器人系统非线性分散重复学习轨迹跟踪控制

doi: 10.3724/SP.J.1004.2011.01264
详细信息
    通讯作者:

    田慧慧 西安电子科技大学机电工程学院博士研究生. 主要研究方向为机器人控制和 重复学习控制. E-mail: yezifairy@163.com

Nonlinear Decentralized Repetitive Control for Global Asymptotic Tracking of Robot Manipulators

  • 摘要: 采用一类具有"小误差放大、大误差饱和"功能的非线性饱和函数来改进传统重复学习控制(Repetitive control, RC)机器人系统动力学控制, 形成一类新的非线性分散重复学习控制(Nonlinear decentralized repetitive control, NRC),使得在不增加驱动力矩的条件下获得了更快的响应速度和更高的轨迹跟踪精度. 应用Lyapunov直接稳定性理论和LaSalle不变性原理证明了闭环系统的全局渐近稳定性. 三自由度机器人系统数值仿真结果表明了所提出的非线性分散重复学习控制具有良好的控制品质.
  • [1] Jin M, Lee J, Chang P H, Choi C. Practical nonsingular terminal sliding-mode control of robot manipulators for high-accuracy tracking control. IEEE Transactions on Industrial Electronics, 2009, 56(9): 3593-3601[2] Wang H, Xie Y. Adaptive inverse dynamics control of robots with uncertain kinematics and dynamics. Automatica, 2009, 45(9): 2114-2119[3] Francis B A, Wonham W M. The internal model principle for linear multivariable regulators. Applied Mathematics and Optimization, 1975, 2(2): 170-194[4] Kasac J, Novakovic B, Majetic D, Brezak D. Passive finite-dimensional repetitive control of robot manipulators. IEEE Transactions on Control Systems Technology, 2008, 16(3): 570-576[5] Sun M, Ge S S, Mareels I M Y. Adaptive repetitive learning control of robotic manipulators without the requirement for initial repositioning. IEEE Transactions on Robotics, 2006, 22(3): 563-568[6] Liuzzo S, Tomei P. A global adaptive learning control for robotic manipulators. Automatica, 2008, 44(5): 1379-1384[7] Liu T S, Lee W S. A repetitive learning method based on sliding mode for robot control. Journal of Dynamic Systems, Measurement, and Control, 2000, 122(1): 40-48[8] Chen Guo-Dong, Jia Pei-Fa. Robust decentralized trajectory tracking control of robot manipulators based on extended state observer. Acta Automatica Sinica, 2008, 34(7): 828-832(陈国栋, 贾培发. 基于扩张状态观测的机器人分散鲁棒跟踪控制.自动化学报, 2008, 34(7): 828-832)[9] Tarokh M. Decoupled nonlinear three-term controllers for robot trajectory tracking. IEEE Transactions on Robotics and Automation, 1999, 15(2): 369-380[10] Liu M. Decentralized control of robot manipulators: nonlinear and adaptive approaches. IEEE Transactions on Automatic Control, 1999, 44(2): 357-363[11] Hsu S H, Fu L C. A fully adaptive decentralized control of robot manipulators. Automatica, 2006, 42(10): 1761-1767[12] Su Yu-Xin, Zheng Chun-Hong. Nonlinear PD plus control for global asymptotic tracking of robot manipulators. Control and Decision, 2009, 24(11): 1697-1701(苏玉鑫, 郑春红. 机器人系统全局渐近稳定非线性PD+轨迹跟踪控制. 控制与决策, 2009, 24(11): 1697-1701)[13] Zhang F, Dawson D M, de Queiroz M S, Dixon W E. Global adaptive output feedback tracking control of robot manipulators. IEEE Transactions on Automatic Control, 2000, 45(6): 1203-1208[14] Orlov Y, Alvarez J, Acho L, Aguilar L. Global position regulation of friction manipulators via switched chattering control. International Journal of Control, 2003, 76(14): 1446-1452
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出版历程
  • 收稿日期:  2011-03-04
  • 修回日期:  2011-05-17
  • 刊出日期:  2011-10-20

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