为具有不可测跳变负载的机械臂设计了控制器的选择机制以达到轨迹跟踪的控制目的.用切换系统描述参数跳变的机械臂,从而将负载的切变表示为系统的切换信号.为每个负载设计子控制器,并在系统切换信号完全不可用的情况下,通过构建监督变量给出子控制器的切换逻辑.当负载变化满足平均驻留时间条件时,能够达到对输入参考信号的渐近跟踪.仿真证明了方法的正确性.
A controller selection mechanism is proposed to solve the tracking problem of robot manipulator when the load shifts unpredictably. A switched system is used to model the manipulator so that the shifting of loads can be captured by the switching signal. When the switching signal of the switched system is unavailable, we design a switching logic for the candidate controllers via constructing a supervisory variable. Asymptotic tracking is achieved when the load change is slow enough. The proposed method is verified by simulation.
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