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基于高增益观测器的匹配干扰下单连杆柔性关节机器人的鲁棒输出反馈控制。

Robust Output Feedback Control of Single-Link Flexible-Joint Robot Manipulator with Matched Disturbances Using High Gain Observer.

机构信息

Department of Electrical Engineering, CEME, National University of Sciences and Technology, Islamabad 44000, Pakistan.

出版信息

Sensors (Basel). 2021 May 8;21(9):3252. doi: 10.3390/s21093252.

DOI:10.3390/s21093252
PMID:34066796
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC8125959/
Abstract

This article focuses on the output feedback control of single-link flexible-joint robot manipulators (SFJRMs) with matched disturbances and parametric uncertainties. Formally, four sensing elements are required to design the controller for single-link manipulators. We have designed a robust control technique for the semiglobal stabilization problem of the angular position of the link in the SFJRM system, with the availability of only a position sensing device. The sliding mode control (SMC) based output feedback controller is devised for SFJRM dynamics. The nonlinear model of SFJRM is considered to estimate the unknown states utilizing the high-gain observer (HGO). It is shown that the output under SMC using HGO-based estimated states coincides with that using original states when the gains of HGO are sufficiently high. Finally, the results are presented showing that the designed control technique works well when the SFJRM model is uncertain and matched perturbations are expected.

摘要

本文专注于具有匹配干扰和参数不确定性的单连杆柔性关节机器人机械手（SFJRMs）的输出反馈控制。形式上，需要四个传感元件来为单连杆机械手设计控制器。我们已经设计了一种用于 SFJRM 系统中连杆角位置的半全局镇定问题的鲁棒控制技术，只需一个位置传感装置即可实现。基于滑模控制（SMC）的输出反馈控制器被设计用于 SFJRM 动力学。考虑到 SFJRM 的非线性模型，利用高增益观测器（HGO）来估计未知状态。结果表明，当 HGO 的增益足够高时，基于 HGO 估计状态的 SMC 的输出与基于原始状态的输出一致。最后，结果表明，当 SFJRM 模型不确定且预期存在匹配扰动时，所设计的控制技术效果良好。

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