用于机器人的非线性补偿结合模型跟随自适应控制方法

A New Robot Control Method——Nonlinear Compensation Combined with Discrete Model Following Adaptive

摘要: 本文提出一个新的机器人控制方法．这个方法结合了“计算力矩”方法和自适应方法各自的优点．本方法首先利用机器人动力学模型进行非线性反馈和前馈补偿使机器人各关节解耦．然后在此基础上对含有一个非线性误差耦合项的二阶线性系统设计离散模型跟随自适应控制器．用基于Popov超稳定性的离散模型跟随自适应机构来克服因建模不精确和负载变化所造成的偏差．仿真结果表明，应用本文所提方法，控制系统的性能满足快速性和精确性的要求并且鲁棒性很强．

Abstract: A new control method is presented in this paper.It combines the advantages of "Computed Torque" method and adaptive method.First,it decouples the robot jointsby carrying out nonlinear feedback and feedforward compensation using completedynamics of robot.Then,discrete model following adaptive controllers are designedfor the obtained linear system of second order with a nonlinear error term.The dis-crete model following adaptive controllers based on Popov hyperstability are used toreduce the errors caused by modelling inaccuracy and load variation.The results ofsimulation experiment show that the performances of the control system meet the ne-eds of speed and accuracy and its robustness is quite strong.