Industrial Robot ( IF 1.8 ) Pub Date : 2021-06-10 , DOI: 10.1108/ir-07-2020-0150 Bingjie Xu , Shuai Ji , Chengrui Zhang , Chao Chen , Hepeng Ni , Xiaojian Wu
Purpose
Trajectory tracking error of robotic manipulator has limited its applications in trajectory tracking control systems. This paper aims to improve the trajectory tracking accuracy of robotic manipulator, so a linear-extended-state-observer (LESO)-based prescribed performance controller is proposed.
Design/methodology/approach
A prescribed performance function with the convergence rate, maximum overshoot and steady-state error is derived for the output error transformation, whose stability can guarantee trajectory tracking accuracy of the original robotic system. A LESO is designed to estimate and eliminate the total disturbance, which neither requires a detailed system model nor a heavy computation load. The stability of the system is proved via the Lyapunov theory.
Findings
Comparative experimental results show that the proposed controller can achieve better trajectory tracking accuracy than proportional-integral-differential control and linear active disturbance rejection control.
Originality/value
In the LESO-based prescribed performance control (PPC), the LESO was incorporated into the PPC design, it solved the problem of stabilizing the complex transformed system and avoided the costly offline identification of dynamic model and estimated and eliminated the total disturbance in real-time with light computational burden. LESO-based PPC further improved control accuracy on the basis of linear-active-disturbance-rejection-control. The new proposed method can reduce the trajectory tracking error of the robotic manipulators effectively on the basis of simplicity and stability.
中文翻译:
基于线性扩展状态观测器的机械臂轨迹跟踪规定性能控制
目的
机械手的轨迹跟踪误差限制了其在轨迹跟踪控制系统中的应用。本文旨在提高机器人机械手的轨迹跟踪精度,因此提出了一种基于线性扩展状态观察器(LESO)的指定性能控制器。
设计/方法/方法
对于输出误差变换,推导出具有收敛速度、最大超调和稳态误差的规定性能函数,其稳定性可以保证原机器人系统的轨迹跟踪精度。LESO 旨在估计和消除总扰动,它既不需要详细的系统模型,也不需要繁重的计算负载。通过李雅普诺夫理论证明了系统的稳定性。
发现
对比实验结果表明,与比例积分微分控制和线性自抗扰控制相比,所提出的控制器可以实现更好的轨迹跟踪精度。
原创性/价值
在基于LESO的规定性能控制(PPC)中,LESO被纳入PPC设计中,解决了复杂变换系统的稳定问题,避免了代价高昂的动态模型离线辨识,并在实际中估计和消除了总扰动。计算负担较轻的时间。基于LESO的PPC在线性主动抗扰控制的基础上进一步提高了控制精度。新提出的方法可以在简单和稳定的基础上有效地减少机器人机械手的轨迹跟踪误差。