设计了一种基于线性滤波降阶的串联机械臂非线性反馈跟踪控制系统,实现了对机械臂关节位移和速度的全局指数跟踪.首先,通过拉格朗日方法建立起两自由度串联机械臂的动态模型;其次,在系统模型中引入一个线性滤波器,将系统化解为关于线形滤波变量的一阶动态方程,然后,设计非线性反馈控制器,通过前馈以补偿系统的非线性和耦合性,并且通过李雅普诺夫稳定性方法证明了所设计控制器可实现系统的全局指数稳定,能完成对期望位移和速度的指数跟踪;最后,通过仿真验证了所提出方法的有效性.%A nonlinear feedback tracking control system based on linear filter reduction is designed to realize the global exponential tracking of joint displacement and velocity of manipulator.Firstly,a dynamic model of two-degree-degree series manipulator is established by Lagrangian method.Secondly,a linear filter is introduced into the system model to solve the first-order equations of motion for linear filter variables.Then,Linear feedback controller,which feeds forward to compen-sate the nonlinearity and coupling of the system,and proves that the designed controller can realize the global exponential stability of the system by the Lyapunov stability method,and can complete the exponential tracking of the desired displace-ment and velocity Finally,the validity of the proposed method is verified by simulation.
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