考量馬達動態之機械手臂系統的滑動遞迴步階控制設計

機械手臂常被運用於工廠、手術室甚至於居家照護，達到控制目標的軌跡是控制器的重點，最好就是又快又省電，而且在現實生活中使用電動馬達去趨動機械手臂，所以在數學模型方面要把直流馬達的動態加入到數學模型的動態。傳統的非線性控制法則是非線性遞迴控制，缺點是有幾個動態就會有幾個步驟，且本論文要討論的是一個n 軸的機械手臂，系統會很複雜，降低複雜度就成為首要條件，所以使用遞迴結合滑動控制，就可以用滑到滑動控制面的概念去降低複雜度和減少步驟。若考慮到環境的變化，不管是潮溼、地心引力的影響、增加負載使機械手臂結合馬達的重量產生改變，所以本論文使用適應性控制來克服，因為它可以成功解決未知參數的系統，使它達到控制目標，只要使用良好的估測器，不管重量變化，機械手臂的控制都不造成問題。關鍵字：機械手臂系統、遞迴結合滑動控制

關鍵字

機械手臂系統；步階遞迴結合滑動控制設計

並列摘要

The control design of robotic manipulator with motor dynamics is the primary issue of this thesis. The system properties of robotic manipulator would be analyzed and investigated in the beginning. The model of this system contains three states: position, velocity and armature current, and the dynamic modeling consists of finding the mapping between the forces exerted on the structures and those three states. The major system components include robot manipulator and DC motor, where the dynamics of motor should be considered for reality. A mathematical model of an n-link robotic arm is established through Lagrange-Euler approach. The combination of two control design schemes including sliding mode control (SMC) and backstepping strategy is developed for the achievement of trajectory tracking. Backstepping design with SMC and backstepping approach only have the different choices of regulated variables. The regulated variable of the former is chosen with SMC concept for reducing the design procedure. Therefore, the backstepping design with SMC has achieved the purpose of position tracking, and its convergence speed is faster than that of backstepping only. In addition, some system parameters are considered to be unknown, so adaptive control design scheme is developed for the trajectory tracking of robotic manipulator system. The resulting closed-system using the adaptive backstepping design with SMC can obtain better performance than the system without adaptation. Finally, comparative simulations are given to illustrate the good effect of the proposed control design schemes applied to a two-link robot arms