关键词: 关节机器人, 无源性控制, 时变阻尼注入, 协同控制, 滑模控制

Abstract: To address the issue of the inability to simultaneously balance response speed and accuracy in trajectory tracking control of manipulators driven by permanent magnet synchronous motors,a disturbance observer-based cooperative control strategy of energy conversion control and signal processing control is proposed. Firstly,the energy conversion controller adopts a time-varying damping Passivity-Based Control (PBC) method. By introducing a time-varying damping injection strategy,the method reduces the high-frequency oscillations of the system and enhances the steady-state control accuracy of the system. Secondly,the signal processing controller adopts a global fast terminal Sliding Mode Control (SMC) method,which can improve the dynamic tracking speed of the system. Meanwhile,the optimized sign function can effectively reduce system high-frequency oscillations. On this basis,through comprehensive comparative analysis of Gaussian function,hyperbolic tangent function,arctangent function,and composite fractional function,Gaussian function is selected as the cooperative function in the cooperative control strategy. Lastly,a nonlinear disturbance observer is used to estimate the lump disturbance of the system and improve the anti-interference ability of the system and apply to compensation control. The experimental comparison results indicate that time-varying damping passivity-based control can effectively reduce the steady-state error of the system,the global fast terminal sliding mode control based on optimized sign function can achieve fast response of the system,and the cooperative control strategy can ensure dynamic fast tracking of joint positions while reducing steady-state errors and high-frequency oscillations,and has good anti-interference and robustness.

Key words: manipulators, Passivity-Based Control(PBC), time-varying damping injection, cooperative control, Sliding Mode Control(SMC)