A Variable Structure Path Tracking Control Strategy for Robotics Applications = 用于机器人轨迹跟踪的结构控制

This paper studies the path tracking control problem of a robot manipulator subject to parameter uncertainty and external disturbance. By using the theory of VSS, and taking advantage of the important property of the robot dynamics, a new control strategy is proposed in which both parameter uncertainty and external disturbance can be easily taken into account. It is shown that with this control strategy, the accurate path tracking is guaranteed. Moreover, the on-line parameter estimation is not required, which makes the strategy easy to implement.

实际机器人控制过程中，不确定参数及外部干扰几乎总是存在的，研究考虑了这些因素的机器人控制问题，在理论及应用中都有重要意义。本文考虑了存在外扰及不确定参数时，机器人的轨迹跟踪问题，利用变结构控制理论，结合机器人自身的结构特点，研制了两组控制规律，它一方面对外扰不敏感，另方面不要求精确的机器人参数，也勿需对参数辨识，因而运算简单，易于实现，理论分析及仿真试验都证明了所给控制能保证渐近轨迹跟踪。