计算机应用 ›› 2012, Vol. 32 ›› Issue (06): 1707-1712.DOI: 10.3724/SP.J.1087.2012.01707

• 先进计算 • 上一篇    下一篇

基于不确定逼近的机械手间接自适应鲁棒预测控制

李桂秋1,陈志旺2   

  1. 1. 常州机电职业技术学院 信息工程系, 江苏 常州 213164
    2. 燕山大学 工业计算机控制工程河北省重点实验室, 河北 秦皇岛 066004
  • 收稿日期:2011-11-16 修回日期:2012-01-09 发布日期:2012-06-04 出版日期:2012-06-01
  • 通讯作者: 李桂秋
  • 作者简介:李桂秋(1966-),女, 黑龙江佳木斯人,副教授,主要研究方向:工业控制、算法优化;〓陈志旺(1978-),男,河北武清人, 讲师,博士,主要研究方向:预测控制、嵌入式系统。

Indirect adaptive robust predictive control of robotic manipulators based on uncertain parameter approximation

LI Gui-qiu1,CHEN Zhi-wang2   

  1. 1. Department of Information Engineering, Changzhou Institute of Mechatronic Technology, Changzhou Jiangsu 213164, China
    2. Key Laboratory of Industrial Computer Control Engineering of Hebei Province, Yanshan University, Qinhuangdao Hebei 066004, China
  • Received:2011-11-16 Revised:2012-01-09 Online:2012-06-04 Published:2012-06-01
  • Contact: LI Gui-qiu

摘要: 为了使机械手系统在含有模型不确定项时具有良好的跟踪性能和较强的抗干扰能力,提出了一种间接自适应鲁棒预测控制。首先,针对机械手模型设计出非线性鲁棒预测控制器;然后,基于三次样条函数逼近控制律中因模型不确定性产生的未知项,并在控制律中引入一个D-控制项抑制外部干扰。理论证明了所设计的控制器能够使跟踪误差收敛到原点。仿真验证了所提方法的有效性。

关键词: 机械手, 自适应控制, 鲁棒预测控制, 样条函数

Abstract: In order to make the robotic manipulators system track well and strong disturbance-opposing ability under the circumstance of parametric uncertainty and external disturbance, the indirect adaptive robust predictive control method is presented. The nonlinear robust predictive controller is designed based on the robotic manipulators system. Then, The cubic spline functions controller is constructed to approximate the unknown terms in the predictive control law caused by system model uncertainties. And the D-controller is added into the control law to inhibit the external disturbance effectively. It is proved that the proposed controller can make the tracking error converge to the origin. Simulation results show the effectiveness of the method.

Key words: robotic manipulators, adaptive control, robust predictive control, spline functions

中图分类号: