通过自适应式扩展状态观察器,为气动操纵器提供后退式集成滑动模式控制
Ling Zhao1, Zhuojun Li1, Hongbo Li2
1State Key Laboratory of Precision Measurement Technology and Instruments, Tianjin University, Tianjin 300072, China; State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China.
ISA transactions
|October 21, 2023
概括
本研究引入了气动操纵器的新型非线性控制策略,通过使用自适应扩展状态观察器和后退集成滑动模式控制器来估计和补偿系统不确定性和干扰,提高了精度.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统工程 控制系统工程
- 机械工程 机械工程
背景情况:
- 气动操纵器在自动化中广泛使用,但容易受到不确定性和干扰的影响.
- 由于非线性动态和外部因素,对这些系统的准确控制具有挑战性.
- 现有的控制策略可能无法充分解决气动系统的复杂动态.
研究的目的:
- 为单个自由度的气动操纵器提出一种新的非线性控制策略.
- 为了提高气动操纵器控制的稳定性和精度.
- 有效地估计和补偿系统不确定性和外部干扰.
主要方法:
- 使用欧勒-拉格朗奇方程建立了气动操纵器单个自由度的动态模型.
- 一个自适应的扩展状态观测器 (AESO) 被设计成一个自适应的定律来估计不确定性和干扰.
- 一个后退的集成滑动模式控制器 (ISMC) 是使用集成滑动模式表面和后退技术开发的.
主要成果:
- 适应式扩展状态观察器成功估计了系统的不确定性和干扰.
- 后退的集成滑动模式控制器有效地弥补了估计的不确定性.
- 实验结果表明,与现有方法相比,拟议的控制策略的性能和有效性优越.
结论:
- 拟议的非线性控制策略,集成一个自适应扩展状态观察器和一个后退的集成滑动模式控制器,显著提高了气动操纵器的控制性能.
- 该方法为处理气动系统中的不确定性和干扰提供了可靠的解决方案.
- 这种方法为各种工业应用中的机器人系统的先进控制提供了一个有希望的方向.
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