%0 Journal Article
%T 移动式救援机器人的鲁棒控制问题研究<br>Study on Robust Control of Mobile Rescue Robots
%A 丛佩超
%A 张欣
%J 机械科学与技术
%D 2016
%X 针对移动式救援机器人系统参数存在误差时的控制问题,基于雅克比矩阵概念与欧拉-拉格朗日方法,建立了移动式救援机器人系统的运动学模型与动力学模型;其次,设计了移动式救援机器人系统转铰空间内的逆动力学控制算法,并分析了系统的运动学与动力学模型存在误差时,对于逆动力学控制算法的影响;接着,为了克服这种影响,引入鲁棒控制思想,设计了新的鲁棒-逆动力学控制算法,利用李雅普诺夫函数证明了控制算法的稳定性。仿真结果表明:新设计的鲁棒-逆动力学控制算法有效地消除了系统不确定性的影响,具有很好的鲁棒性。<br>In order to study the control of mobile rescue robot under uncertain system parameters, the kinematics and dynamics model for mobile rescue robots is firstly presented in terms of Jacobian matrices and Ouler-Lagrange. Secondly, the Inverse Dynamics Control is brought forward in joint space, and the effects of the Inverse Dynamics Control due to imperfect compensation of the kinematics and dynamics models are analyzed. Then, the new Robust-Inverse Dynamics Control is designed which is aimed at counteracting the effects of system errors, the stability of the control is proved with Lyapunov functions. At last, the validity, efficiency and robustness of the control algorithms are demonstrated with computer simulation
%K 移动式救援机器人
%K 动力学模型
%K 逆动力学控制
%K 鲁棒控制&lt
%K br&gt
%K dynamics model
%K inverse dynamics control
%K mobile rescue robot
%K robust control
%U http://journals.nwpu.edu.cn/jxkxyjs/CN/abstract/abstract6410.shtml