液压与气动2025，Vol.49Issue(6)：102-111,10.DOI:10.11832/j.issn.1000-4858.2025.06.012
基于双积分鲁棒的多自由度液压机械臂预设性能控制
Prescribed Performance Control of Multi-degree-of-freedom Hydraulic Manipulator Based on Dual Robust Integral of Sign Error
摘要
Abstract
Multi-degree-of-freedom hydraulic manipulators prominently exhibit strong joint coupling characteristics and large dynamic model errors,which leads to degraded control performance.To achieve high-precision pose control,a dual robust integral of sign error controller with prescribed performance function is proposed.Based on the prescribed performance function,the transformed error signal is obtained,simultaneously limiting the rate and range of error convergence.Combined with the backstepping method,a dual robust integral of sign error controller is designed to suppress both matched and unmatched uncertainties,enhancing the robustness of system.The semi-global stability of the system and the boundedness of all signals are proved by Lyapunov stability theory.The results show that the proposed control strategy significantly improves the joint tracking accuracy and error convergence rate of multi-degree-of-freedom hydraulic manipulators,fully verifying the effectiveness of this control strategy.关键词
液压机械臂/积分鲁棒控制/预设性能函数/电液伺服系统Key words
hydraulic manipulators/robust integral of sign error control/prescribed performance function/electro-hydraulic servo system分类
机械制造引用本文复制引用
郑玉艳,米君杰,沈刚..基于双积分鲁棒的多自由度液压机械臂预设性能控制[J].液压与气动,2025,49(6):102-111,10.基金项目
安徽理工大学校级科研基金(2024YJRC181) （2024YJRC181）
