摘要
针对钻孔机器人姿态调节的控制过程中存在外界干扰的问题,利用非线性H∞控制理论,引入误差四元数概念,推导了姿态跟踪控制的运动学方程。通过构建钻孔姿态跟踪控制的工程目标和虚拟输出,并经过矩阵变换,设计了满足工程应用需求的控制律。经理论验证,该控制律控制下的闭环系统的姿态误差和角速度误差全局收敛。
Against the external disturbance during the drilling posture control of the drilling robot, the kinematic formula of the posture tracking control is deduced by the nonlinear H∞ control theory and the conception of the error-quaternion. After constructing the engineering target and the virtual output of the drilling posture tracking control and the matrix transformation, the control law satisfied the application purpose is designed. It is verified in the theoretical way that the control law can make the posture error and the angular velocity error of the closed-loop system tend to be stable globally.
引文
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