机电工程技术2024，Vol.53Issue(5)：70-76,7.DOI:10.3969/j.issn.1009-9492.2024.05.016
基于Bouc-Wen模型的肌腱-鞘结构非线性位置控制
Nonlinear Position Control of Tendon-sheath Structure Based on the Bouc-Wen Model
摘要
Abstract
Tendon-sheath structures are popular in many applications such as robotic arms and surgical instruments due to their simplicity,flexibility and remote transfer.However,the presence of severe friction,backlash hysteresis and other non-linearities in the transfer process of tendon-sheath structures makes precise control of the distal position a very challenging task and a major obstacle to their widespread utilisation.A nonlinear position controller based on the Bouc-Wen model is investigated to solve the problem of inaccurate control of tendon-sheath structures.Firstly,a hysteresis observer is proposed to compensate for the non-linearity of the system in the presence of output position feedback,and a nonlinear controller is constructed based on the hysteresis observer to achieve accurate position control at the distal end.The stability and bounded convergence of the tendon-sheath system are then analysed and demonstrated using the Lyapunov stability criterion.Additionally,the effect of external disturbances at the distal end on the system output is considered.Finally,the simulation results show that the proposed controller not only significantly improves the precise control performance of the tendon-sheath structure but also effectively suppresses the influence of external disturbances on the system.Compared with common inverse feedforward control,the proposed control strategy performs well in tracking error of sinusoidal signals,with a peak value of only 0.011 rad,which is significantly reduced compared to the conventional 0.251 rad.关键词
肌腱-鞘结构/间隙滞后/Bouc-Wen模型/非线性控制Key words
tendon-sheath structure/backlash hysteresis/Bouc-Wen model/nolinear control分类
信息技术与安全科学引用本文复制引用
李炎清,周佛保,程俭廷,王身宁,刘爱荣,陈炳聪..基于Bouc-Wen模型的肌腱-鞘结构非线性位置控制[J].机电工程技术,2024,53(5):70-76,7.基金项目
国家自然科学基金项目(52279127) （52279127）
高等学校学科创新引智计划(111计划)(D21021) （111计划）
广州市科技计划项目(20212200004) （20212200004）
