论文标题
使用不确定性和干扰估计器对机器人操纵器的稳健控制
Discrete Robust Control of Robot Manipulators using an Uncertainty and Disturbance Estimator
论文作者
论文摘要
本文基于不确定性和干扰估计器（UDE）的离散时间公式（一种众所周知的稳健控制技术）介绍了强大的观察者的设计，以控制机器人操纵器。该设计导致完整的闭环，健壮，控制器 - 观察者结构。观察者结合了与植物相关的总体不确定性的估计，以模仿其动力学，并使用辅助误差而不是状态跟踪误差生成控制定律。提供了详细的定性和定量稳定性分析，并在两链接机器人操纵器系统上进行仿真。此外，提出了与众所周知的机器人操纵器控制策略的比较研究。结果证明了所提出的技术的功效，与其他策略相比，跟踪性能和控制能量较低。
This article presents the design of a robust observer based on the discrete-time formulation of Uncertainty and Disturbance Estimator (UDE), a well-known robust control technique, for the purpose of controlling robot manipulators. The design results in a complete closed-loop, robust, controller--observer structure. The observer incorporates the estimate of the overall uncertainty associated with the plant, in order to mimic its dynamics, and the control law is generated using an auxiliary error instead of state tracking error. A detailed qualitative and quantitative stability analysis is provided, and simulations are performed on the two-link robot manipulator system. Further, a comparative study with well-known control strategies for robot manipulators is presented. The results demonstrate the efficacy of the proposed technique, with better tracking performance and lower control energy compared to other strategies.
