论文标题
部分可观测时空混沌系统的无模型预测
Robust Artificial Delay based Impedance Control of Robotic Manipulators with Uncertain Dynamics
论文作者
论文摘要
在本文中，提出了针对动力学不确定性的机器人操纵器提出的基于人工延迟的阻抗控制器。控制定律将超级扭曲算法（STA）类型的二阶切换控制器组合在一起，将时间延迟估计（TDE）框架通过新型的广义过滤跟踪误差（GFTE）归结。虽然时间延迟估计框架通过估算不确定的机器人动力学和相互作用力从状态和控制努力的近期数据估算不确定的机器人动力学和相互作用力来准确建模机器人动力学，但外循环中的二阶切换控制法为时间延迟估计（TDE）提供了稳健性（TDE）误差（TDE），该错误由于操纵动力学动力学的近似值而产生。因此，拟议的控制定律试图在机器人端效应变量之间建立所需的阻抗模型，即在存在不确定性的情况下，在遇到平滑接触力和自由运动期间的力和运动。使用拟议的控制器以及收敛分析的两个链接操纵器的仿真结果证明了该命题。
In this paper an artificial delay based impedance controller is proposed for robotic manipulators with uncertainty in dynamics. The control law unites the time delayed estimation (TDE) framework with a second order switching controller of super twisting algorithm (STA) type via a novel generalized filtered tracking error (GFTE). While time delayed estimation framework eliminates the need for accurate modelling of robot dynamics by estimating the uncertain robot dynamics and interaction forces from immediate past data of state and control effort, the second order switching control law in the outer loop provides robustness against the time delayed estimation (TDE) error that arises due to approximation of the manipulator dynamics. Thus, the proposed control law tries to establish a desired impedance model between the robot end effector variables i.e. force and motion in presence of uncertainties, both when it is encountering smooth contact forces and during free motion. Simulation results for a two link manipulator using the proposed controller along with convergence analysis are shown to validate the proposition.
