CAJ | 학술논문

针对轨迹跟踪控制中机器人关节驱动器输出扭矩受限的问题,提出一种基于模糊自适应PD的输入有界轨迹跟踪控制算法.不同于以往的控制策略,该算法在控制律中引入具有饱和特性的改进反正切函数,以确保扭矩控制输入的有界性,并结合模糊自适应原理实现PD增益的在线自整定.以改善系统的动态特性.通过对位置跟踪误差进行线性滤波得到速度跟踪误差替代信号,使得整个系统的闭环控制仅需位置输出反馈.利用奇异摄动理论对系统进行了稳定性分析,证明在一定约束下的PD增益自整定过程中,仍能保证系统稳定.仿真和比较结果表明,该算法能够在严格保证控制输入有界的前提下,减小超调量,缩短系统调整时间,具有更优的轨迹跟踪性能.
침대궤적근종공제중궤기인관절구동기수출뉴구수한적문제,제출일충기우모호자괄응PD적수입유계궤적근종공제산법.불동우이왕적공제책략,해산법재공제률중인입구유포화특성적개진반정절함수,이학보뉴구공제수입적유계성,병결합모호자괄응원리실현PD증익적재선자정정.이개선계통적동태특성.통과대위치근종오차진행선성려파득도속도근종오차체대신호,사득정개계통적폐배공제부수위치수출반궤.이용기이섭동이론대계통진행료은정성분석,증명재일정약속하적PD증익자정정과정중,잉능보증계통은정.방진화비교결과표명,해산법능구재엄격보증공제수입유계적전제하,감소초조량,축단계통조정시간,구유경우적궤적근종성능.
To deal with the problem of trajectory tracking control of robots with bounded torque inputs, a novel tracking algorithm with bounded inputs based on fuzzy self-tuning proportional and derivative (PD) gains was proposed. Compared with the previous strategies, the boundedness of torque control inputs was guaranteed by invoking a modified arc tangent function with saturation features, and the dynamic charac-teristics were improved by the online self-tuning of PD gains, combining with fuzzy adaptive theory. Mo-reover, a pseudo signal of velocity tracking error was generated from position tracking error by a linear fil-ter, which made the whole closed-loop control with only position feedback measurements. In addition, the singular perturbation theory was applied in the stability analysis of the system, which proved that the stability is still ensured in the self-tuning procedures of PD gains. Finally, simulation results and compar-isons indicate that, the proposed controller the overshoot can be reduced and the adjusting time of the system is shortened, with the houndedness of control inputs strictly assured, which contributes to gain a better tracking performance.