基于I&I与Hamiltonian理论的机器人速度观测器设计

杨波; 李惠光; 沙晓鹏; 邵暖

doi:10.3724/SP.J.1004.2012.01757

基于I&I与Hamiltonian理论的机器人速度观测器设计

doi: 10.3724/SP.J.1004.2012.01757 cstr: 32138.14.SP.J.1004.2012.01757

1.
燕山大学电气工程学院秦皇岛 066004

详细信息

通讯作者:
李惠光

计量
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- 被引次数: 0
出版历程
- 收稿日期: 2011-12-14
- 修回日期: 2012-07-05
- 刊出日期: 2012-11-20

A Speed Observer for Robot Based on Hamiltonian Theory and Immersion & Invariance

1.
Institute of Electrical Engineering, Yanshan University, Qinhuangdao 066004

摘要

摘要: 近期, Astolfi和Stamnes等对一类机械系统设计了速度观测器. 采用了分步设计Lyapunov 函数的方法, 这导致观测误差系统结构复杂、证明繁琐. 而且设计的偏微分方程(Partial differential equation, PDE) 不合理, 导致计算量大、不易求解. 本文在Astolfi和Stamnes等的基础上, 对一类机械(机器人) 系统设计了速度观测器. 通过对观测误差系统的Hamiltonian 实现, 克服了Astolfi和Stamnes等方法中的上述缺点. 并设计了一类偏微分方程, 避免了繁琐计算. 最后, 将所设计的速度观测器应用到一类关节机器人中, 仿真结果验证了设计方法的有效性.
- 观测器 /
- 浸入与不变流形 /
- Hamiltonian /
- 机器人
Abstract: Recently, a speed observer for general Euler-Lagrange systems adopting the step by step design of the Lyapunov function was proposed, which makes the structure of the observer error systems complex and the proof complicated. Also, the computation is very intensive for the unreasonable design of the partial differential equation (PDE). In this paper, the speed observer for a mechanical system based on the aforementioned is designed. By the Hamiltonian realization of the observer error systems, we remove the obstacle the observer. What is more, the problem of the computational burden by designing the PDE is solved. At last, the designed observer is applied to estimation of the angular velocities in a robot.
- Observer /
- immersion and invariance (I & /
- I) /
- Hamiltonian

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参考文献(1)

[1]

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