移动式救援机器人的鲁棒控制问题研究

丛佩超; 张欣

doi:10.13433/j.cnki.1003-8728.2016.0608

移动式救援机器人的鲁棒控制问题研究

doi: 10.13433/j.cnki.1003-8728.2016.0608

丛佩超^1,2,
张欣¹

1.
辽宁工程技术大学机械工程学院, 辽宁阜新 123000;
2.
哈尔滨工业大学机电工程学院, 哈尔滨 150001

基金项目:

国家高技术研究发展计划项目(863计划)(2013AA701301)资助

详细信息

作者简介:
丛佩超(1980-),讲师,博士,研究方向为受非完整约束机器人的相关问题,cpclzx@163.com

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- 被引次数: 0
出版历程
- 收稿日期: 2014-08-07
- 刊出日期: 2016-06-05

Study on Robust Control of Mobile Rescue Robots

Cong Peichao^1,2,
Zhang Xin¹

1.
College of Mechanical Engineering, Liaoning Technical University, Liaoning Fuxin 123000, China;
2.
School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China

摘要

摘要: 针对移动式救援机器人系统参数存在误差时的控制问题,基于雅克比矩阵概念与欧拉-拉格朗日方法,建立了移动式救援机器人系统的运动学模型与动力学模型;其次,设计了移动式救援机器人系统转铰空间内的逆动力学控制算法,并分析了系统的运动学与动力学模型存在误差时,对于逆动力学控制算法的影响;接着,为了克服这种影响,引入鲁棒控制思想,设计了新的鲁棒-逆动力学控制算法,利用李雅普诺夫函数证明了控制算法的稳定性。仿真结果表明:新设计的鲁棒-逆动力学控制算法有效地消除了系统不确定性的影响,具有很好的鲁棒性。
- 移动式救援机器人 /
- 动力学模型 /
- 逆动力学控制 /
- 鲁棒控制
Abstract: In order to study the control of mobile rescue robot under uncertain system parameters, the kinematics and dynamics model for mobile rescue robots is firstly presented in terms of Jacobian matrices and Ouler-Lagrange. Secondly, the Inverse Dynamics Control is brought forward in joint space, and the effects of the Inverse Dynamics Control due to imperfect compensation of the kinematics and dynamics models are analyzed. Then, the new Robust-Inverse Dynamics Control is designed which is aimed at counteracting the effects of system errors, the stability of the control is proved with Lyapunov functions. At last, the validity, efficiency and robustness of the control algorithms are demonstrated with computer simulation.
- dynamics model /
- inverse dynamics control /
- mobile rescue robot /
- robust control

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参考文献(15)

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