| 基于反步法的SCARA机器人轨迹跟踪控制 |
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| 引用本文： | 基于反步法的SCARA机器人轨迹跟踪控制.基于反步法的SCARA机器人轨迹跟踪控制[J].山东科学,2021,34(3):119-124. |
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| 作者姓名： | 基于反步法的SCARA机器人轨迹跟踪控制 |
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| 作者单位： | 1.齐鲁工业大学（山东省科学院） 山东省海洋仪器仪表研究所 山东省海洋环境监测技术重点实验室 国家海洋监测设备工程技术研究中心，山东 青岛 266033；2. 青岛理工大学 信息与控制工程学院， 山东 青岛 266000 |
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| 摘 要： | 针对SCARA机器人轨迹跟踪问题，提出了一种基于反步法的轨迹跟踪控制方法。利用反步法设计控制器的虚拟控制和实际控制量，基于李雅普诺夫稳定理论设计的控制律能够实现对机器人的轨迹跟踪，并确保闭环系统为全局稳定。仿真结果验证了算法的有效性，所设计的跟踪闭环系统一致全局渐近稳定，有效提高了轨迹跟踪控制精度，保证了跟踪误差信号的收敛。
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| 关 键 词： | SCARA机器人 反步设计 轨迹跟踪 非线性控制 |
| 收稿时间： | 2020-06-19 |
Trajectory tracking control of SCARA robot via backstepping approach |
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| ZHAO Na,LU Cheng-xing.Trajectory tracking control of SCARA robot via backstepping approach[J].Shandong Science,2021,34(3):119-124. |
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| Authors: | ZHAO Na LU Cheng-xing |
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| Institution: | 1. National Engineering and Technological
Research Center of Marine Monitoring Equipment, Shandong Provincial KeyLaboratory of Ocean Environmental
Monitoring Technology, Institute of Oceanographic Instrumentation, Qilu University of Technology (Shandong
Academy of Sciences), Qingdao 266033, China; 2. School of Information and Control Engineering, Qingdao
University of Technology, Qingdao 266000, China |
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| Abstract: | In this paper, we propose a trajectory tracking control law based on backstepping approach for the SCARA robot. We design the virtual and actual control terms by employing the backstepping approach. Based on Lyapunov's stability theory, the designed control law can track the trajectory of the robot and ensure that the closed-loop system is globally stable. Simulation results verified the effectiveness of the designed algorithm. The closed-loop system is uniformly globally asymptotically stable,which effectively improves the accuracy performance of trajectory tracking and ensures the convergence of the tracking error signal. |
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| Keywords: | SCARA robot backstepping design trajectory tracking nonlinear control |
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