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针对机械臂在使用中会遇到各种不确定性和外界未知干扰影响较大的问题,根据系统动力学模型和Lya-punov稳定性理论,提出一种干扰观测器,在线观测系统的不确定性和外加干扰,并利用该观测值设计出一种反演控制器。最后通过基于控制目标构造的Lyapunov函数,对系统的稳定性进行了验证。提出的观测器能够精确估计出系统的不确定性和未知干扰,从而使得所设计的控制器能有效克服系统因各种因素而引起的干扰,增强了系统的鲁棒性。仿真结果验证了该方法的有效性。
Aiming at the problem that the manipulator will encounter various uncertainties and the influence of the unknown disturbance from the outside in use, a disturbance observer is proposed according to the system dynamics model and the Lya-Punov stability theory. The uncertainty of the on-line observation system In addition, we use this observation to design an inversion controller. Finally, the stability of the system is verified by Lyapunov function based on the control target. The proposed observer can accurately estimate the system uncertainty and unknown interference, so that the designed controller can effectively overcome the system interference caused by various factors and enhance the system robustness. Simulation results verify the effectiveness of this method.