[1]费跃农,吴青华.基于输出反馈线性化的机械手随动控制[J].深圳大学学报理工版,2005,22(3):189-196.
 FEI Yue-nong Q H Wu.Tracking control of robotmanipulators via output feedback linearization[J].Journal of Shenzhen University Science and Engineering,2005,22(3):189-196.
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基于输出反馈线性化的机械手随动控制()
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《深圳大学学报理工版》[ISSN:1000-2618/CN:44-1401/N]

卷:
第22卷
期数:
2005年3期
页码:
189-196
栏目:
光电与信息工程
出版日期:
2005-07-30

文章信息/Info

Title:
Tracking control of robotmanipulators via output feedback linearization
文章编号:
1000-2618(2005)03-0189-08
作者:
费跃农1吴青华2
1)深圳大学工程技术学院,深圳518060
2)利物浦大学电气与电子工程系,利物浦L69 3GJ英国
Author(s):
FEI Yue-nong1 Q H Wu2
1) College of Engineering and Technology ShenzhenUniversity Shenzhen 518060 P. R. China
2) Department of Electrical Engineering and Electronics The University of Liverpool LiverpoolL69 3GJ U. K.
关键词:
机械手滑动模态观测器滑动模态控制器虚状态扰动估计
Keywords:
Robot manipulator sliding mode observer sliding mode control fictitious state perturbation estima-tion
分类号:
TP 391.41
文献标志码:
A
摘要:
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.
Abstract:
A sliding mode perturbation observer(SPO) was designed for linearization of robot manipulators. It can estimate unmeasurable states and system perturbations including system nonlinearities, disturbances and unmodelled dynamics. With SPO, robot manipulator systems can be linearized and decoupled merely by joint angle feedback and the controller design does not need an accurate model of robot manipulators. Simulation studies were taken on a two-link robot manipulator to evaluate the proposed approach. The simulation results show that controllers with SPO have superior tracking performances, over a wide range of payloads, compared to sliding mode controllers using state feed-back linearization.

相似文献/References:

[1]费跃农,吴青华.基于学习自动机阵列的模糊规则学习方法[J].深圳大学学报理工版,2007,24(1):85.
 FEI Yue-nong and WU Qing-hua.An approach of learning fuzzy rules based on learning automata arrays[J].Journal of Shenzhen University Science and Engineering,2007,24(3):85.

更新日期/Last Update: 2015-10-16