自动化学报2025，Vol.51Issue(10)：2324-2336,13.DOI:10.16383/j.aas.c250151
一类移动机械臂系统的鲁棒H∞跟踪控制
Robust H∞ Tracking Control for a Class of Mobile Manipulator Systems
摘要
Abstract
A robust H∞ control scheme is proposed for the tracking control problem of mobile manipulators based on adaptive dynamic programming under parametric uncertainties,external disturbances and input saturation con-straints.First,a neural network identifier is designed to estimate the uncertain dynamics of the tracking error on-line.Then,considering external disturbances,target motion perturbations and identification error,the robust H∞ control is formulated as a zero-sum game problem for solution,in which a generalized non-quadratic functional is in-troduced into the value function to address the input saturation constraints.A critic network is further constructed to approximate the optimal value function,and the approximate optimal control law and the estimated worst-case lumped disturbances are obtained.The proposed scheme can achieve the uniform ultimate boundedness of the closed-loop system tracking error and the weight estimation error of the critic network.Simulation results validate the effectiveness of the proposed scheme.关键词
移动机械臂/鲁棒H∞控制/自适应动态规划/视觉伺服Key words
Mobile manipulator/robust H∞ control/adaptive dynamic programming/visual servoing引用本文复制引用
孙倩,郑琳铄,张学文,贾英民..一类移动机械臂系统的鲁棒H∞跟踪控制[J].自动化学报,2025,51(10):2324-2336,13.基金项目
国家自然科学基金(62227810,62133001),国家重点基础研究发展计划(973计划)(2012CB821200,2012CB821201)资助Supported by National Natural Science Foundation of China(62227810,62133001)and National Basic Research Program of China(973 Program)(2012CB821200,2012CB821201) （62227810,62133001）
