| 摘要: |
| 用跟踪误差小数幂技术,研究一种新的具有终端收敛能力的Stewart平台饱和PD加重力补偿控制方法,运用LaShalle 's不变集原理分析系统稳定性,通过数值仿真验证新方法的有效性。 结果表明,新方法能够保证系统在控制器输出存在饱和的情况下全局渐近稳定,且比传统的饱和PD加重力补偿控制方法具有更快的收敛速度。 |
| 关键词: 饱和控制 PD控制 机器人 控制 Stewart平台 并联机器人 数值方法 |
| DOI：10.3969/j.issn.1673-5005.2010.04.026 |
| 分类号::TP 242.2 |
| 文献标识码:A |
| 基金项目:国家自然科学基金项目(60604017);国家“863”高新技术研究项目(2009AA04z138);中央高校基本科研业务费专项资金资助(09CX04057A) |
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| Saturating PD control approach with terminal convergence capability for Stewart platform |
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ZHAO Dong ya1, ZOU Tao2, WANG Zhi ping3, HE Xiong xiong2
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(1.College of Electromechanical Engineering in China University of Petroleum, Dongying 257061, China;2.College of Information Engineering, Zhejiang University of Technology, Hangzhou 310023, China;3.SINOPEC Luoyang Branch, Luoyang 471000, China)
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| Abstract: |
| A new saturating PD plus gravity compensation control approach with terminal convergence capability for Stewart platform was presented using decimal fraction power of tracking error. In light of LaShalle 's invariance principle, the system stability was analyzed. The effectiveness of the approach was demonstrated by numerical simulation. The results show that the method can achieve asymptotic stability in the presence of controller output saturation. The proposed approach has faster convergence speed than conventional saturating PD plus gravity compensation control algorithm. |
| Key words: saturating control PD control robot control Stewart platform parallel robot numerical methods |
