Active Disturbance Rejection Control of a 2DOF manipulatorwith significant modeling uncertainty二自由度机械臂的自抗扰控制 具有显著的建模不确定性

《Active Disturbance Rejection Control of a 2DOF manipulatorwith significant modeling uncertainty二自由度机械臂的自抗扰控制 具有显著的建模不确定性》由会员上传分享，免费在线阅读，更多相关内容在学术论文-天天文库。

1、BULLETINOFTHEPOLISHACADEMYOFSCIENCESSELECTEDPROBLEMSOFROBOTCONTROLTECHNICALSCIENCES,Vol.60,No.3,2012DOI:10.2478/v10175-012-0064-zActiveDisturbanceRejectionControlofa2DOFmanipulatorwithsignificantmodelinguncertaintyM.PRZYBYŁA,M.KORDASZ,R.MADOŃSKI,P.HERMAN,andP.SAUER∗ChairofCont

2、rolandSystemsEngineering,FacultyofComputingScience,PoznańUniversityofTechnology,3aPiotrowoSt.,61-138Poznań,PolandAbstract.ThispaperpresentsapracticalverificationofanActiveDisturbanceRejectionControl(ADRC)methodingoverningamultidi-mensionalsystem.Theexperimentswereconductedonat

3、wodegreesofafreedomplanarmanipulatorwithonlypartialknowledgeaboutthemathematicalmodeloftheplant.Thismultiinputmultioutputsystemwascontrolledwithasetoftwo,independent,singleinputsingleoutputADRCcontrollers,eachregulatingoneofthemanipulatordegreeoffreedom.Modelinguncertainty(no

4、nlinearities,cross-couplingeffects,etc.)andexternaldisturbanceswereassumedtobeapartofthedisturbance,tobeestimatedwithanobserverandcancelledon-lineinthecontrolloop.TheADRCrobustnesswasexperimentallycomparedwiththeresultsobtainedfromusingtwodecentralized,classicPIDcontrollers.Bo

5、thcontrolmethodsweretestedundervariousconditions,e.g.changingtheinertialparametersoftheplant.Significantlybetterresults,intermsofparametricrobustness,havebeenreportedfortheADRCapproach.Keywords:ADRC,2DOFmanipulator,modelinguncertainty.1.IntroductionControl[6].Theydonotneedaful

6、lanalyticaldescriptionoftheplantbuttheirmaindrawbackisthattheyrequireinforma-1.1.Stateoftheart.Oneofthemostfundamentalresearchtionabouthigherorderderivativesoftheplantoutputsignals,areaincontroltheoryandapplicationisthestudyofdis-whichcanbeproblematicinsomeindustrialsituation

7、s.turbancerejectionproblem.Sincemostoftherealenviron-Differentapproachfordealingwiththesystemuncertainty,mentsystemsunavoidablyencounterdisturbances,thegoalthatdoesnotposesthedrawbacksmentionedabove,isrep-istouseacontrolapproachthatwillstayrobustagainsttheresentedbyanActiveDis

8、turbanceRejectionControlmethodactingperturbation,whilecontinuetoeffec