具有参数不确定被动力伺服系统的反步控制

Backstepping control of passive force control system with parameter uncertainties

摘要:

针对被动式力伺服系统的参数变化和多余力矩问题,在建立系统非线性模型的基础上,设计一种自适应反步控制器.并利用Lyapunov稳定性定理证明了设计控制器的稳定性.该控制器考虑了系统主要参数变化和承载系统的扰动,将系统方程重组成多个虚拟子系统,利用反步控制思想对每个虚拟系统设计虚拟控制量,通过反步递推得到含有参数变化与承载系统扰动的非线性控制器.仿真结果表明:与传统控制器相比,该自适应反步控制器能更好地抑制多余力矩,证明了所设计控制器的有效性.

Abstract:

Aimed at the parameter uncertainties and extra torque in passive force control system,an adaptive backstepping controller is proposed based on the established nonlinear model of the system.The stability of the controller is testified by the Lyapunov stability theory,in which the parameter uncertainties and extra torque are considered.The nonlinear model of the system is established to construct several new virtual subsystems,then the backstepping thought is introduced to the design of the dummy controllers for each dummy subsystem.By backstepping recurrence,the nonlinear controller with parameter uncertainties and disturbance of load bearing system is obtained.The result of simulation shows that the designed controller can eliminate extra torque better compared with traditional controller,which proves the effectiveness of the proposed approach.