應用強健性重複滑動模型控制於機械手臂定位追跡控制器設計

Abstract

本研究利用非線性控制理論實現重複控制結合滑動模型控制於非線性系統之四軸機械手臂上，使得輸出的追跡效能具有較高精度，且在外部干擾訊號以及系統未知項影響下有較佳的強健性。

機械手臂精密運動控制在實際的應用上經常面對不同型態的負載，如不可預測的外部干擾訊號、系統未知項(System Uncertainty)，或是系統模型自身的影響：重力、柯氏力、慣性力等等，在不同型態的負載影響下使得系統輸出效能的精準度與穩定性受到影響。為了有效提高系統的輸出效能，必須對外部干擾訊號以及系統未知項的影響加以抑制。本研究致力於機械手臂的精密運動控制。其中滑動模型控制設計用來消除外部干擾訊號以及系統模型的影響，增加系統的強健性。結合重複控制抑制系統未知項的影響，即使系統包含未知項依然能夠達成追跡控制。In this study, the Repetitive Control (RC) combine with Sliding Mode Control (SMC) by nonlinear control theorem is applied on four axis manipulator, making the tracking performance more precisely and the system uncertainty have better robustness under the effect of outloop disurbances.

Manipulator preciseness control is mostly applied in many diffirent types of payload, such as the unpredictability outloop disturbance, system uncertainty or the impact of the model itself gravity, goriolis force, inertia force. Diffirent types of payload impact effect and cause system preciseness and stability loss. In order to improve the output efficiency of the system, suppressing the influence of outloop disturbances and systems uncertainty is necessary. This paper proposes the SMC that have hight performance combined with the RC has high performance on to suppressing the disterbances and enhancing the robustness.