應用強健性重複滑動模型控制於機械手臂定位追跡控制器設計

Design a Robust Repetitive Sliding Mode Controller for Robot Manipulator Position and Tracking Control

張煒騰(Wei-Tang Chang)

指導教授 ： 陳美勇

國立臺灣師範大學/科技與工程學院/機電工程學系/碩士(2015年)

https://doi.org/10.6345/NTNU202205451

摘要

本研究利用非線性控制理論實現重複控制結合滑動模型控制於非線性系統之四軸機械手臂上，使得輸出的追跡效能具有較高精度，且在外部干擾訊號以及系統未知項影響下有較佳的強健性。

機械手臂精密運動控制在實際的應用上經常面對不同型態的負載，如不可預測的外部干擾訊號、系統未知項(System Uncertainty)，或是系統模型自身的影響：重力、柯氏力、慣性力等等，在不同型態的負載影響下使得系統輸出效能的精準度與穩定性受到影響。為了有效提高系統的輸出效能，必須對外部干擾訊號以及系統未知項的影響加以抑制。本研究致力於機械手臂的精密運動控制。其中滑動模型控制設計用來消除外部干擾訊號以及系統模型的影響，增加系統的強健性。結合重複控制抑制系統未知項的影響，即使系統包含未知項依然能夠達成追跡控制。

關鍵字

重複控制 ； 滑動模型控制 ； 機械手臂

並列摘要

In this study, the Repetitive Control (RC) combine with Sliding Mode Control (SMC) by nonlinear control theorem is applied on four axis manipulator, making the tracking performance more precisely and the system uncertainty have better robustness under the effect of outloop disurbances.

Manipulator preciseness control is mostly applied in many diffirent types of payload, such as the unpredictability outloop disturbance, system uncertainty or the impact of the model itself gravity, goriolis force, inertia force. Diffirent types of payload impact effect and cause system preciseness and stability loss. In order to improve the output efficiency of the system, suppressing the influence of outloop disturbances and systems uncertainty is necessary. This paper proposes the SMC that have hight performance combined with the RC has high performance on to suppressing the disterbances and enhancing the robustness.

並列關鍵字

Repetitive Control ； Sliding Mode Control ； Manipulator

參考文獻

[1] T. Inoue, M. Nakano, T. Kubo, and S. Mastsumoto, “High accuracy control of a proton synchrotron magnet power supply,” Procceedings of the 8th IFAC World Congress, vol. 20, pp.216-221, 1981.

[2] B. A. Francis and W. M. Wonham, “The inernal model principle for linear multivariable regulators,” Applied Mathematics & Optimization, vol. 2, no. 2, pp.170-194, 1975.

[3] S. Hara, Y. Yamammoto, T. Omata, and M. Nakano, “Repetitive control system : A new type servo system for periodic exogenous signals,” IEEE Transactions on Automatic Control, vol. 33, no. 7, pp. 659-668,July 1988.

[4] K. Kaneko and R. Horowitz, “Repetitive and Adaptive Control of Robot Manipulators with Velocity Estimation,” IEEE Trans. Robotics and Automation, Vol. 13, No. 2, pp. 204-217, Apr. 1997.

[5] L. Xiao-Dong, Tommy W. S. Chow, John K. L. Ho, and Hong-Zhou Tan, “Repetitive learning control of nonlinear continuous-time systems using quasi-sliding mode,” IEEE Trans. on Control Systems Technology , vol. 15, No. 2, March 2007.