6-DOF并联机器人非线性鲁棒自适应控制
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摘要
本论文首先简单的介绍了并联机器人结构及其机器人控制理论的发展概况，其次，研究了系统仿真的工具，采用SIMULINK和S-FUNCTION结合来对机器人系统进行仿真研究，可以避免繁琐的状态方程的求解；然后，在第三章，进行控制方法的研究，对串联机器人设计了几种控制器，并对其进行仿真：最后针对我校自行研制的6-DOF并联机器人，建立了不确定的动力学模型，推导了不确定的上界包络函数，在此基础之上，给出并证明了机器人的三个重要特性；考虑到6-DOF并联机器人的实际动力学特点，采用简单的多项式结构，应用不依赖于机器人动力学模型的鲁棒自适应分散控制策略——即一个简单的PD线性反馈+补偿不确定性动力学的非线性反馈，其控制律的设计既不依赖于机器人的已知的标称模型，也不需要计算机器人的回归矩阵，能够有效克服通常难于建模的非参数不确定性的影响，而唯一需要了解的只是各个关节的位置和速度状态；对于分散控制策略，充分考虑了机器人各关节的动力学的耦合影响，而且更能克服现存分散控制器结构不连续以及控制输出不平滑的缺点，最后可以保证全局的渐近稳定。对于所设计的鲁棒自适应分散控制器，我们进行了大量的轨迹跟踪的仿真试验，仿真结果表明，本文理论推导正确，能够达到系统所要求的设计目的。
In the dissertation, first, we simply introduce the physical structure of parallel robot and the development of robot control theory; second, we make research onjsyslem simulation tool, after long time consideration, finally we found the best way to simulation is to comply Simulink and S-function, it can avoid the complicated process to transfer nonlinear robot dynamic model to state-space model; then, in the third chapter, we mainly make research on the robot theory, on how to design robot controllers about general series robots; finally, we focus on the six degree parallel robot model made by Yanshan University, on the basis of former postgraduate's work, we present the uncertain parallel robot model, then prove three important robot qualities, after that, we imply robust-adaptive control decentralized strategies which depend on neither the nominal model nor the regressor into parallel robot system as the controller, which includes a simple PD linear controller and a nonlinear feedback to compensate the uncertain dynamics. The proposed controller can get rid of the effects of uncertainties and the only information required in setting up the strategies is the position and velocity state of each joint. In addition, the decentralized controller not only considers fully the dynamic interaction of each joint and effects of unmodelled dynamics but also overcomes the unsmooth controller output and uncontinuous structure of existing decentralized controller and can guarantee the global asymptotic stability. And also, as to the proposed robust-adaptive decentralized controller, we did a large amount of tracking simulations. The results indicated that the strategies presented in the dissertation was theoretically correct, it can meet the designing demand of the robot systems.
In the dissertation, first, we simply introduce the physical structure of parallel robot and the development of robot control theory; second, we make research onjsyslem simulation tool, after long time consideration, finally we found the best way to simulation is to comply Simulink and S-function, it can avoid the complicated process to transfer nonlinear robot dynamic model to state-space model; then, in the third chapter, we mainly make research on the robot theory, on how to design robot controllers about general series robots; finally, we focus on the six degree parallel robot model made by Yanshan University, on the basis of former postgraduate's work, we present the uncertain parallel robot model, then prove three important robot qualities, after that, we imply robust-adaptive control decentralized strategies which depend on neither the nominal model nor the regressor into parallel robot system as the controller, which includes a simple PD linear controller and a nonlinear feedback to compensate the uncertain dynamics. The proposed controller can get rid of the effects of uncertainties and the only information required in setting up the strategies is the position and velocity state of each joint. In addition, the decentralized controller not only considers fully the dynamic interaction of each joint and effects of unmodelled dynamics but also overcomes the unsmooth controller output and uncontinuous structure of existing decentralized controller and can guarantee the global asymptotic stability. And also, as to the proposed robust-adaptive decentralized controller, we did a large amount of tracking simulations. The results indicated that the strategies presented in the dissertation was theoretically correct, it can meet the designing demand of the robot systems.
引文
1 孙迪生，王炎．机器人控制技术．北京：机械工业出版社，1997．
2 蔡子兴．机器人学．北京：清华大学出版社，2000．
3 黄真，孔令富，方跃法．并联机器人机构学理论及控制．北京：机械工业出版社，1997，12．
4 Grace K W. and Colgate J E. A 6-DOF Micromanipularor for Ophthalmic Surgery. IEEE Conf. on Rob & Aut, 1993, 630～635.
5 申铁龙．机器人鲁棒控制基础．北京：清华大学出版社，2001，1．
6 谢明江，代颖，施颂椒．机器人鲁棒控制研究进展．机器人，2000，22(1)：73～80．
7 C. Abdallah, D. Dawson, P. Dorato and M. Jamshidi. Survey of Robust control for Rigid Robots. IEEE Control systems Magazine, 1991,11(2):24～30.
8 H.G. Sage, M. E. De. Mathelin and E. Osrertag. Robust control of robot Manipulators a survey. Int Control 1999,72(16):1498～1552.
9 Dubowsky. S. and Desforges. D.T. The Application of Model-referenced Adaptive Control to robot manipulators. ASME Journal of Dynamics System, Measurement and Control, 1979, Vol. 101: 193～200.
10 Jr.R.P.A. and Hubbard. M. Modeling and Adaptive control of a Mechnical Manipulator. ASME Journal of Dynamics Systems, Measurement and Control, 1984,9, Vol. 106:211～217.
11 HisaT. C. Adaptive Control of Robot Manipulators review . IEEE Int. Conf. Robotics and Automation, San Francisco, 1986.
12 Craig. J.J. et al. Adaptive Control of Mechanical Manipulators. The International Journal of Robotics Research, 1987,6(2):172～184.
13 Slotine .J.J.E and Li W. On the adaptive Control of Robot Manipulators. The International Journal of Robotics Research, 1987,6(3): 147～157.
14 Sadegh. N. and Horowitz. R. StabilityAnalysis of an Adaptive Controller for Robotic Manipulators. IEEE Robot' 87, Raleigh, 1987:
1223-1229．
15 Wen.J.Tetal.Lyapunov Function-Based Control Laws for Revolute Robot Arms . Tracking Control, Robustness and Adaptive control. IEEE Transaction on Automation Control, 1992, 37(2) :231~239．
16 ffeb. J. Tand Bayard. D. S. New class of control laws for robotic manipu-lators, part 1, Non-adaptive case. Int. J. Control, 1988,47(5) :1361~ 1385．
17 Bayard. D. S and Wen. J. T. New class of control laws for robotic manipu-lators, part 2, adaptive case. Int. J.Control,1988, 47(5) :1387-1406．
18 Paden .B.and Panja.R. Globally asymptotically 'PD+' controller for rigid robot manipulators. Int.J.Control 1988, 47(6) :1697-1712．
19 Middleton.R.H and Goodwin. G. C. Adaptive Computed Torque Control for Rigid Link Manipulators. Systems and Control lett,1988,10:9-16．
20 Slotine.J.J.E and Li.W. Comprosite Adaptive Control of Robot Manipulators. Autoraatica, 1990, 25(4) :509-519．
21 Decarlo. R. A. eral. Variable Structure Control of Nonlinear Multivar-iable Systems: A tutorial. Proceedings of the IEEE,1988,76(3) : 73-82．
22 Zak.S.H. An Electric Approach to the State Feedback Control of Nonlinear Dynamical Systems. ASME Journal of Dynamic systems, Measurement, and Control,1989, Vol. 111:631~640．
23 Fu.L.C.and Liao.T.L. Globally stable robust Tracking of Nonlinear Systems Using Variable Structure Control and with an Application to a Robotic Manipulator.IEEE Transactions on Automation control, 1990,35(12) :1345~1350．
24 Chen . Y. F. etal. A new and simple Algorithm for sliding Mode Traject-ory control of the robot Arm .IEEE Transactions of Automatic control, 1990, 35(7) :828-829．
25 Novakovic.Z.R. Robust Tracking Control for Robots With Bounded input. ASME Journal of Dynamic Systems, measurement and control. 1992, Vol. 114:315-319．
26 Feng. G. and Palaniswanmi.M. Adaptive Control of Robot Manipulators in Task space . IEEE Transactions on Automatic Control, 1993,38(1) : 100-104．
27 Young K-R.D. Controller design for A Manipulator using theory of variable Structure Systeas . IEEE Trans. Syst. Man and Cyber. 1978, 8: 210-218．
28 Yao.B and Toraizyka. M. Smooth Robust Adaptive sliding Mode Control of Manipulators with Guaranteed Transient Performance. ASME Journal of Dynamic Control, 1996,Vol. 118 : 764-775．
29 Yao.Bin. Unified Approach to VSC of Robot Manipulators. IEEE Trans-action on Automatic Control,1994,39(2) :371~376．
30 Su Chun-Yi and leung Tin-Pui.A sliding mode Controller with Bound Estimation for robot Manipulators. IEEE Transactions On Robotics and Automation.1993,9(2) :208~214．
31 Tao.G. On the Robust Adaptive Control of Robot Manipulators. Auto-matica,28(4) :803~807．
32 Slotine . J.J.E and Coetsee.J. A. Adaptive sliding controller synthe-sis for nonlinear systems.Int.J.Control, 1996, Vol. 6:1631-1651．
33 Chen. L. W.and Papavassilopouls.G.P. Robust Variable structure and Switching Adaptive Control of single-Arm Dynamics. IEEE Transac-tions on Automatic Control, 1994,39(8) :1621-1625．
34 Chen.Y.H. A New Matching condition for Nonlinear Robust Control Design ASME Journal of Dynamic System, Measurement, and Control, 1995, Vol.117:453-457．
35 Corless.M. and Leitmann. G. Component wise Bounded Controllers for Robust Exponential Convergence. ASME Journal of Dynamic System, Measurement, and Control,1997,Vol.119:73-79．
36 申铁龙.H∞控制理论及应用.北京：清华大学出版社，1999．
37 赵志魁，王力琦，韩崇昭，万百万.H∞控制理论在鲁槔控制中的应用.焦作工学院学报，1997，16(3) ：3~10．
38 Liu.G and Goldenberg A. A. Uncertainty Decoaposition-Based Robust control of Robot Manipulators. IEEE Transactions On Control Systems Technology,1996,4(4) :383~393．
39 Liu. G and Goldenberg A.A. Comparative Study of Robust Saturation-Based control of Robot Manipulators. Analysis and Experiments .The International Journal of Robot reaserch, 1996,15(5):473～491.
40 代颖，郑南宁，张元亮．采用多项式结构的机器人鲁棒自适应控制．西安交通大学学报，1998，32(5)：18～21．
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42 Ming. Liu. Decentralized Control of Robot Manipulators: Nonlinear and Adaptive Approaches. IEEE Transactions on Automation Control, 1999,44(2):357～363.
43 王强德，陈为田，魏春玲，初学导．一类不确定系统的鲁棒自适应控制．控制理论与应用，2000，4，17(2)：244～248．
44 Jauasuriua. S and Hwang. C.N. Tracking Controllers for Robot Manipulators:A high gain perspective.ASME Journal of Dynamics Systems, Measurement and Control, 1998, Vol. 110:39～45.
45 Corless. M.J and Leitmann. G. Continuous State feedback guaranteeing uniform ultimate boundedness for uncertain Dynamic systems. IEEE Transactions on Automatic Control, 1981,26(5):1139～1143.
46 Berghuis. H, etal. A Robust Adaptive robot Controller. IEEE Transaction on Robotics and Automation. 1993,9(6):825～830.
47 Keigo. Watanabe. A nonlinear Robust Control of Robot using a Fuzzy reasoning and its application to a robot manipulator. Journal of Intelligent and Robotic systems, 1997, Vol. 20:275～294.
48 Karakasoghu. A. etal. A Recurrent Neural Network Based Adaptive Variable structure Model-following Control of Robotic Manipulator. Automatic. 1999,31(10):1495～1507.
49 牛玉刚，杨成梧，陈雪如．基于神经网略的不确定性机器人自适应滑模控制．控制与决策，2001．1，16(1)：79～82．
50 Imura Jun-ichi. Adaptive Robust Control of Robot Manipulators Theory and Experiment. IEEE Trans. Rob. Auto, 1994,10(5):1527～1542.
51 葛显良．应用范函分析．杭州：浙江大学出版社，1996．
52 理查德．摩雷，李泽湘，夏恩卡．萨思特里．机器人操作的数学导论．北京：机械工业出版社，1997．
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72 李俊杰．矩阵分析．北京：机械工业出版社，1995．
73 Reed. J.S. and Ioannou. P. Instablity Analysis and Robust Adaptive control of Robotic Manipulators. IEEE Transactions on Robotics and automation, 1989,5(3):381～386.
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2 蔡子兴．机器人学．北京：清华大学出版社，2000．
3 黄真，孔令富，方跃法．并联机器人机构学理论及控制．北京：机械工业出版社，1997，12．
4 Grace K W. and Colgate J E. A 6-DOF Micromanipularor for Ophthalmic Surgery. IEEE Conf. on Rob & Aut, 1993, 630～635.
5 申铁龙．机器人鲁棒控制基础．北京：清华大学出版社，2001，1．
6 谢明江，代颖，施颂椒．机器人鲁棒控制研究进展．机器人，2000，22(1)：73～80．
7 C. Abdallah, D. Dawson, P. Dorato and M. Jamshidi. Survey of Robust control for Rigid Robots. IEEE Control systems Magazine, 1991,11(2):24～30.
8 H.G. Sage, M. E. De. Mathelin and E. Osrertag. Robust control of robot Manipulators a survey. Int Control 1999,72(16):1498～1552.
9 Dubowsky. S. and Desforges. D.T. The Application of Model-referenced Adaptive Control to robot manipulators. ASME Journal of Dynamics System, Measurement and Control, 1979, Vol. 101: 193～200.
10 Jr.R.P.A. and Hubbard. M. Modeling and Adaptive control of a Mechnical Manipulator. ASME Journal of Dynamics Systems, Measurement and Control, 1984,9, Vol. 106:211～217.
11 HisaT. C. Adaptive Control of Robot Manipulators review . IEEE Int. Conf. Robotics and Automation, San Francisco, 1986.
12 Craig. J.J. et al. Adaptive Control of Mechanical Manipulators. The International Journal of Robotics Research, 1987,6(2):172～184.
13 Slotine .J.J.E and Li W. On the adaptive Control of Robot Manipulators. The International Journal of Robotics Research, 1987,6(3): 147～157.
14 Sadegh. N. and Horowitz. R. StabilityAnalysis of an Adaptive Controller for Robotic Manipulators. IEEE Robot' 87, Raleigh, 1987:
1223-1229．
15 Wen.J.Tetal.Lyapunov Function-Based Control Laws for Revolute Robot Arms . Tracking Control, Robustness and Adaptive control. IEEE Transaction on Automation Control, 1992, 37(2) :231~239．
16 ffeb. J. Tand Bayard. D. S. New class of control laws for robotic manipu-lators, part 1, Non-adaptive case. Int. J. Control, 1988,47(5) :1361~ 1385．
17 Bayard. D. S and Wen. J. T. New class of control laws for robotic manipu-lators, part 2, adaptive case. Int. J.Control,1988, 47(5) :1387-1406．
18 Paden .B.and Panja.R. Globally asymptotically 'PD+' controller for rigid robot manipulators. Int.J.Control 1988, 47(6) :1697-1712．
19 Middleton.R.H and Goodwin. G. C. Adaptive Computed Torque Control for Rigid Link Manipulators. Systems and Control lett,1988,10:9-16．
20 Slotine.J.J.E and Li.W. Comprosite Adaptive Control of Robot Manipulators. Autoraatica, 1990, 25(4) :509-519．
21 Decarlo. R. A. eral. Variable Structure Control of Nonlinear Multivar-iable Systems: A tutorial. Proceedings of the IEEE,1988,76(3) : 73-82．
22 Zak.S.H. An Electric Approach to the State Feedback Control of Nonlinear Dynamical Systems. ASME Journal of Dynamic systems, Measurement, and Control,1989, Vol. 111:631~640．
23 Fu.L.C.and Liao.T.L. Globally stable robust Tracking of Nonlinear Systems Using Variable Structure Control and with an Application to a Robotic Manipulator.IEEE Transactions on Automation control, 1990,35(12) :1345~1350．
24 Chen . Y. F. etal. A new and simple Algorithm for sliding Mode Traject-ory control of the robot Arm .IEEE Transactions of Automatic control, 1990, 35(7) :828-829．
25 Novakovic.Z.R. Robust Tracking Control for Robots With Bounded input. ASME Journal of Dynamic Systems, measurement and control. 1992, Vol. 114:315-319．
26 Feng. G. and Palaniswanmi.M. Adaptive Control of Robot Manipulators in Task space . IEEE Transactions on Automatic Control, 1993,38(1) : 100-104．
27 Young K-R.D. Controller design for A Manipulator using theory of variable Structure Systeas . IEEE Trans. Syst. Man and Cyber. 1978, 8: 210-218．
28 Yao.B and Toraizyka. M. Smooth Robust Adaptive sliding Mode Control of Manipulators with Guaranteed Transient Performance. ASME Journal of Dynamic Control, 1996,Vol. 118 : 764-775．
29 Yao.Bin. Unified Approach to VSC of Robot Manipulators. IEEE Trans-action on Automatic Control,1994,39(2) :371~376．
30 Su Chun-Yi and leung Tin-Pui.A sliding mode Controller with Bound Estimation for robot Manipulators. IEEE Transactions On Robotics and Automation.1993,9(2) :208~214．
31 Tao.G. On the Robust Adaptive Control of Robot Manipulators. Auto-matica,28(4) :803~807．
32 Slotine . J.J.E and Coetsee.J. A. Adaptive sliding controller synthe-sis for nonlinear systems.Int.J.Control, 1996, Vol. 6:1631-1651．
33 Chen. L. W.and Papavassilopouls.G.P. Robust Variable structure and Switching Adaptive Control of single-Arm Dynamics. IEEE Transac-tions on Automatic Control, 1994,39(8) :1621-1625．
34 Chen.Y.H. A New Matching condition for Nonlinear Robust Control Design ASME Journal of Dynamic System, Measurement, and Control, 1995, Vol.117:453-457．
35 Corless.M. and Leitmann. G. Component wise Bounded Controllers for Robust Exponential Convergence. ASME Journal of Dynamic System, Measurement, and Control,1997,Vol.119:73-79．
36 申铁龙.H∞控制理论及应用.北京：清华大学出版社，1999．
37 赵志魁，王力琦，韩崇昭，万百万.H∞控制理论在鲁槔控制中的应用.焦作工学院学报，1997，16(3) ：3~10．
38 Liu.G and Goldenberg A. A. Uncertainty Decoaposition-Based Robust control of Robot Manipulators. IEEE Transactions On Control Systems Technology,1996,4(4) :383~393．
39 Liu. G and Goldenberg A.A. Comparative Study of Robust Saturation-Based control of Robot Manipulators. Analysis and Experiments .The International Journal of Robot reaserch, 1996,15(5):473～491.
40 代颖，郑南宁，张元亮．采用多项式结构的机器人鲁棒自适应控制．西安交通大学学报，1998，32(5)：18～21．
41 代颖，郑南宁，李春来．机器人鲁棒自适应分散控制．机器人，1998，20(3)：187～191．
42 Ming. Liu. Decentralized Control of Robot Manipulators: Nonlinear and Adaptive Approaches. IEEE Transactions on Automation Control, 1999,44(2):357～363.
43 王强德，陈为田，魏春玲，初学导．一类不确定系统的鲁棒自适应控制．控制理论与应用，2000，4，17(2)：244～248．
44 Jauasuriua. S and Hwang. C.N. Tracking Controllers for Robot Manipulators:A high gain perspective.ASME Journal of Dynamics Systems, Measurement and Control, 1998, Vol. 110:39～45.
45 Corless. M.J and Leitmann. G. Continuous State feedback guaranteeing uniform ultimate boundedness for uncertain Dynamic systems. IEEE Transactions on Automatic Control, 1981,26(5):1139～1143.
46 Berghuis. H, etal. A Robust Adaptive robot Controller. IEEE Transaction on Robotics and Automation. 1993,9(6):825～830.
47 Keigo. Watanabe. A nonlinear Robust Control of Robot using a Fuzzy reasoning and its application to a robot manipulator. Journal of Intelligent and Robotic systems, 1997, Vol. 20:275～294.
48 Karakasoghu. A. etal. A Recurrent Neural Network Based Adaptive Variable structure Model-following Control of Robotic Manipulator. Automatic. 1999,31(10):1495～1507.
49 牛玉刚，杨成梧，陈雪如．基于神经网略的不确定性机器人自适应滑模控制．控制与决策，2001．1，16(1)：79～82．
50 Imura Jun-ichi. Adaptive Robust Control of Robot Manipulators Theory and Experiment. IEEE Trans. Rob. Auto, 1994,10(5):1527～1542.
51 葛显良．应用范函分析．杭州：浙江大学出版社，1996．
52 理查德．摩雷，李泽湘，夏恩卡．萨思特里．机器人操作的数学导论．北京：机械工业出版社，1997．
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