Robust Nonlinear PID Controllers for Anti-windup Design of Robot Manipulators with an Uncertain Jacobian Matrix
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摘要: 对于雅克比阵不确定的操作机器人笛卡尔空间操作任务, 提出一种鲁棒非线性PID控制器的抗饱和设计方案, 解决了PID控制中的积分饱和问题. 该控制器通过引入有界递增分段连续函数于PID控制器中的积分环节, 限制了积分器的积分作用, 从而克服了积分环节对闭环系统的不利影响: 一方面使得闭环系统是渐进稳定的, 另一方面又保证了其鲁棒性; 特别是, 相比于其它的抗饱和设计方法, 显得更加简单有效.Abstract: As for Cartesian regulation of robot manipulators with uncertain Jacobian matrix, an anti-windup scheme of robust nonlinear PID (RN-PID) controllers is proposed to solve the practical problems arising from integral action and integrator windup in PID-like control systems. Asymptotic stability is guaranteed while position and joint velocity measurements are only required; robustness of the resulting closed-loop system is also guaranteed due to the constraints acting on integral action. Especially, compared with other anti-windup approachs, the proposed algorithm is simpler and more effective for anti-windup design.
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Key words:
- Robot manipulator /
- robust nonlinear PID /
- anti-windup /
- robustness /
- uncertain Jacobian
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