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对于具有系统不确定性的n-DOF机器人操纵器的时间同步融合控制
Duansong Wang1, Gang Zhang1, Tan Zhang1
1College of Electrical and Photo Electronic Engineering, West Anhui University, Lu'an 237012, China.
Sensors (Basel, Switzerland)
|September 28, 2024
概括
本研究介绍了机器人操纵器的新型时间同步 (TS) 控制方法,确保所有组件同时融合. 模拟证明了它在康复机器人领域的优势.
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
- 机械电子学是什么意思 机械电子学
背景情况:
- 机器人操纵器控制通常面临着系统状态同时融合的挑战.
- 现有的有限时间控制方法可能无法保证同步的融合.
- 不确定性和干扰可以阻碍精确的机器人系统性能.
研究的目的:
- 为机器人操纵器提出一种新的时间同步 (TS) 融合控制方法.
- 确保所有系统状态在有限时间内同时趋同到一个平衡点.
- 提高机器人系统在不确定性条件下的稳定性和精度.
主要方法:
- 引入基于比率持久性属性的时间同步收概念.
- 开发一个与TS控制框架兼容的强大的干扰观察器.
- 设计用于机器人操纵器的有限时间同步控制器.
- 稳定性分析以验证拟议的TS控制方法.
主要成果:
- 拟议的TS控制方法确保了所有机器人操纵器状态的同时趋同.
- 强大的干扰观察器准确地估计了系统的不确定性.
- 稳定性分析证实了TS控制方法的可行性和有效性.
- 使用双环康复机器人系统进行的模拟显示,与现有方法相比,其性能优越.
结论:
- 开发的时间同步控制方法为机器人操纵器的同时状态融合提供了强大的解决方案.
- 整合一个干扰观察员可以提高系统处理不确定性的能力.
- TS控制策略显示出显著的优势,特别是在诸如康复机器人等应用中.
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