论文部分内容阅读
为机械手线性化和随动控制设计了一种滑动模态扰动观测器.在观测系统状态的同时,估计由系统的非线性和模型的不确定性和外来的干扰所造成的广义扰动.它使非线性、强耦合的机械手系统可以仅靠关节角反馈实现线性化和解耦,且控制器的设计不依赖于机械手的精确模型.二连杆机械手仿真研究表明,在机械手荷载大范围变化的场合下,该控制器的随动控制性能优于采用全状态反馈线性化的控制器.
A sliding mode disturbance observer is designed for the manipulator linearization and follow-up control. The observer observes the state of the system and at the same time estimates the generalized perturbation caused by the system nonlinearity and model uncertainty and external disturbance. The nonlinear and strongly coupled manipulator system can be linearized and decoupled based on joint angle feedback only, and the controller’s design does not depend on the precise model of the manipulator.The simulation results of the two-link manipulator show that in the situation where the manipulator load changes in a wide range , The controller’s follow-up control performance is superior to the controller using the full state feedback linearization.