Robust Motion Control of an Oscillatory-Base Manipulator in a Global Coordinate System
Robust Motion Control of an Oscillatory-Base Manipulator in a Global Coordinate System
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DOI：
10.1109/tie.2014.2349363
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发表时间：
2015-02
影响因子：
7.7
通讯作者：
Masato Sato;M. Toda
中科院分区：
文献类型：
--
作者：
Masato Sato;M. Toda
本文提出了一种在振动基机械臂的全局坐标系中进行运动控制的控制设计方法，该机械臂可以被视为安装在船舶或海洋结构上的机械系统的模型系统。本文提出了一种利用 H∞ 控制和比例微分 (PD) 控制的此类系统的控制设计方法。为了评估所提出的方法，在传感器误差和执行器饱和等实际约束下，对姿态控制和位置控制进行了跟踪控制仿真和实验。此外，将所提出的控制器与传统的比例、积分和微分（PID）控制器进行了比较。结果表明，所提出的控制器是成功有效的，并且优于 PID 控制器。此外，使用我们提出的机械进行的鲁棒控制实验和鲁棒稳定性分析表明，所提出的控制器对物理参数扰动具有很强的鲁棒性。我们开发的稳健稳定性分析机制基于状态相关系数形式，适用于比以前更广泛的系统。
This paper presents a control design method for motion control in a global coordinate system of an oscillatory-base manipulator, which can be regarded as a model system of mechanical systems installed on vessels or oceanic structures. This paper proposes a control design method for such systems exploiting H∞ control and proportional and derivative (PD) control. In order to evaluate the proposed method, tracking control simulations and experiments were conducted for both attitude control and position control with practical constraints such as sensor error and actuator saturation. Furthermore, the proposed controller was compared with a conventional proportional, integral, and derivative (PID) controller. The results demonstrate that the proposed controller is successfully effective and is superior to the PID controller. Moreover, robust control experiments and robust stability analyses using our proposed machinery show that the proposed controller has strong robustness against physical parametric perturbations. Our developed robust stability analysis machinery is based on the state-dependent coefficient form and applicable to a wider class of systems than the previous one.