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IET Cyber-Systems and Robotics
IET Cyber-Systems and Robotics  2019, Vol. 1 Issue (2): 63-71    DOI: 10.1049/iet-csr.2019.0013
    
基于无源扩张状态观测器的机械手鲁棒跟踪控制
Mohammed Ali, C.K. Alexander
Department of Electrical Engineering Computer Science, Cleveland State University, Cleveland, Ohio 44115, USA
Robust tracking control of a robot manipulator using a passivity-based extended-state observer approach
Mohammed Ali, C.K. Alexander
Department of Electrical Engineering Computer Science, Cleveland State University, Cleveland, Ohio 44115, USA
 全文: PDF 
摘要： 这项研究提出了一种结合鲁棒无源控制器(RPBC)和扩张状态观测器(ESO)的方法，实现了三自由度PUMA 500机械臂在参数变化和外界干扰下的跟踪控制。本研究分析了PUMA机械臂的动力学模型及其结构特性。使用ESO中的附加状态估计控制系统中的参数变化和外部干扰。然后，使用RPBC在控制律中消除它们。本文分析了所提的控制系统的稳定性和观测误差的收敛性。仿真结果表明，所提的控制器具有良好的鲁棒性，在参数变化和外界干扰下均能很好地跟踪，从而验证了该控制方案的有效性。
Abstract: This study presents a combination of the robust passivity-based controller (RPBC) and an extended state observer (ESO) for the tracking control of a three degree-of-freedom PUMA 500 robot manipulator under parameter variations and external disturbances. The dynamic model of the PUMA robot and its structural properties are analysed. The extra state in the ESO estimates the parameter variations and external disturbances in the control system. Then the RPBC cancels them in the control law. The stability of the proposed control system and the convergence of the observation errors are analysed. Simulations prove that the proposed controller is robust and tracks well under parameter variations, and external disturbances, validating the proposed control scheme.
收稿日期: 2019-03-21 出版日期: 2020-01-13
通讯作者: Mohammed Ali     E-mail: m.g.ali@csuohio.edu
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引用本文:

Mohammed Ali, C.K. Alexander. Robust tracking control of a robot manipulator using a passivity-based extended-state observer approach. IET Cyber-Systems and Robotics, 2019, 1(2): 63-71.

链接本文:

http://www.zjujournals.com/iet-csr/CN/10.1049/iet-csr.2019.0013    或    http://www.zjujournals.com/iet-csr/CN/Y2019/V1/I2/63

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