烟台大学学报（自然科学与工程版）2024，Vol.37Issue(2)：134-143,10.DOI:10.13951/j.cnki.37-1213/n.230208
基于干扰和输出受限的电机驱动机械臂轨迹跟踪控制
Trajectory Tracking Control of Manipulators Actuated by Motors Based on Disturbance and Output Constrain
摘要
Abstract
For a class of manipulators actuated by DC-motors,the problem of trajectory tracking control under out-put constrain and unknown disturbance is considered in this paper.In the case of bounded disturbance,a disturb-ance observer is designed to estimate disturbance.To prevent constraint violation,a skillful barrier Lyapunov func-tion based on the structural properties of the manipulator is introduced.Then a tuning trajectory tracking controller in vector form is designed such that tracking error can be made small enough,while the output cannot violate its constrained bounds.The effectiveness of the proposed scheme is demonstrated by the simulation results for a hu-manoid manipulator.关键词
机械臂/直流电机/轨迹跟踪/输出受限/干扰Key words
manipulator/DC-motor/trajectory tracking/output constrain/disturbance分类
数理科学引用本文复制引用
聂振霞,崔明月..基于干扰和输出受限的电机驱动机械臂轨迹跟踪控制[J].烟台大学学报（自然科学与工程版）,2024,37(2):134-143,10.基金项目
国家自然科学基金资助项目(62073275) （62073275）
山东省自然科学基金资助项目(ZR2021MA102). （ZR2021MA102）
