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首页> 外文会议>Proceedings of the 2016 IEEE ANDESCON >Real-time backstepping tracking control of a translational manipulator
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Real-time backstepping tracking control of a translational manipulator

机译：平移操纵器的实时反步跟踪控制

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摘要

This work deals with the design and real-time implementation of a backstepping control system with the capability to simultaneously track the car and arm reference positions of a translational manipulator of 2DOF (2 Degrees of Freedom). The design of the backstepping controller is based on the nonlinear dynamic model of the manipulator. Simulation studies demonstrated that the outputs of the designed control system, car and arm positions, were able to follow sinusoidal and step form signals. A cRIO (compact Reconfigurable Input Output) device with proper input and output modules was used to embed the control and the HMI (Human Machine Interface) programs written in LabVIEW code. The good control performance of the designed backstepping control system was compared with the results obtained by an adaptive control system.
机译：这项工作涉及Backstepping控制系统的设计和实时实现，该系统可以同时跟踪2DOF（2个自由度）平移操纵器的汽车和手臂参考位置。反推控制器的设计基于机械手的非线性动力学模型。仿真研究表明，所设计的控制系统的输出，轿厢和手臂的位置能够遵循正弦和阶跃形式的信号。使用带有适当输入和输出模块的cRIO（紧凑型可重配置输入输出）设备嵌入了以LabVIEW代码编写的控制程序和HMI（人机界面）程序。将设计的反推控制系统的良好控制性能与自适应控制系统的结果进行了比较。

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