| 引用本文: | 步妮,李小永,张玉义.微手系统的鲁棒无源跟踪控制(英文)[J].控制理论与应用,2023,40(9):1620~1626.[点击复制] |
| BU Ni,LI Xiao-yong,ZHANG Yu-yi.Robust passive tracking control for micro-hand system[J].Control Theory and Technology,2023,40(9):1620~1626.[点击复制] |
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| 微手系统的鲁棒无源跟踪控制(英文) |
| Robust passive tracking control for micro-hand system |
| 摘要点击 725 全文点击 241 投稿时间：2022-03-02 修订日期：2023-07-07 |
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| DOI编号 10.7641/CTA.2022.20150 |
| 2023,40(9):1620-1626 |
| 中文关键词 鲁棒控制 非线性系统 无源性 Bezout 恒等式 鲁棒跟踪控制 |
| 英文关键词 robust control nonlinear system passivity Bezout identity robust tracking control |
| 基金项目 国家重点研发计划2018AAA0100804, 国家自然科学基金青年基金61304093, 山东省自然科学基金ZR2021MF047 |
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| 中文摘要 |
| 近年来, 微手系统作为机器人技术的一个热门研究领域, 受到了越来越多的关注. 由于微手系统是复杂且具有非线性的, 因此在实际应用当中很难达到精确跟踪的性能. 为了解决微手系统的精准控制问题, 本文讨论了微手系统的鲁棒无源跟踪控制. 首先, 运用基于演算子理论的鲁棒右互质分解方法, 建立了微手系统的动态模型. 然后, 通过结合无源补偿算子, 设计了无源鲁棒控制器, 保证了系统的鲁棒稳定性和无源性. 进而提出了基于双Bezout恒等式的鲁棒跟踪控制方案, 使整个非线性系统具有较强的鲁棒性和良好的跟踪性能. 最后, 通过仿真进一步验证了所提出方法的有效性 |
| 英文摘要 |
| In recent years, as a hot research topic in the field of robotics, the research of the micro-hand system has gained more and more attention. Since the micro-hand system is complex with nonlinearity, it is difficult to realize the accurate tracking performance for some real applications. Therefore, in order to solve the accurate control problem of the micro-hand system, the robust passive tracking control for the micro-hand system is studied in this paper. Firstly, using the operator-based robust right coprime factorization method, a dynamic model of the micro-hand system is established. Secondly, combined with the passive compensator, the passive robust controller is designed to ensure robust stability and passivity of the system. Thirdly, the robust tracking control scheme based on dual Bezout identity is proposed, which makes the whole nonlinear systems hold robustness and perfect tracking performance. Finally, the effectiveness of the proposed method is further verified by the simulation. |
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