کنترل ​​مقاوم تطبیقی برای ربات صنعتی موازی فضایی هیدرولیک

This paper proposes an adaptive robust control for spatial hydraulic industrial robot, with a view of improving the performance of trajectory tracking under varying uncertainty. The mathematical models of mechanical system and electro-hydraulic driven system of spatial 6-DOF industrial robot are described, under Kane method and hydromechanics method. The backstepping design methodology is adopted to develop the nonlinear adaptive robust control scheme, which treats the modeling errors and coupling as bounded disturbances, and regards parameters without a priori knowledge as parametric disturbances. The dynamic tracking performances of the closed-loop system with the proposed control for the industrial robot are validated via simulation. The theoretical and simulation results demonstrate that the developed controller can exhibit good tracking performance

Kane method and hydrodynamics principle. A backstepping methodology is adopted to develop the nonlinear adaptive robust control law. The adaptive update law is adopted to deal with the parametric uncertainties of friction parameters, and the robust compensation law is employed to cope with the uncertainties of modeling errors and disturbances. The realization of the developed control law is available under the data feedback of actuator position, velocity, and pressure. With properties of robot dynamics, the closed-loop stability with the proposed controller is proved by using Lyapunov analysis. The trajectory tracking performance of the robot with the presented controller is evaluated through applying sinusoidal signals and circular signals. The results shown that the adaptive robust controller can exhibits excellent trajectory tracking performance for any inputs even without a prior knowledge. On the other hand, the proposed adaptive robust controller has some disadvantages, optimal tuning of parameters is difficult since many control parameters exist, and more information is required, such as velocity, load force of the hydraulic industrial robot, which should be solved to make it available in actual high real time control system as a good alternative.