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基于观测器的人在环多机械臂系统预设性能二分一致性

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研究通讯拓扑为符号有向图的人在环多机械臂系统的预设性能二分一致性跟踪控制问题。为在预设时间内收敛到预设精度，提出一种基于观测器的预设性能控制策略。首先，设计预设时间和精度的观测器以估计领导者的输出信息，通过合作/竞争信息交互实现观测器输出的二分一致性。该观测器不需要领导机械臂的输入信息及输出信息的高阶导数，并通过无芝诺行为的事件触发机制降低不同机械臂间的通讯负担。其次，通过反步法及误差转化法将有约束的机械臂输出跟踪问题转化为无约束的误差系统稳定性问题，进而基于观测器输出设计机械臂的输出调节控制器。值得一提的是，设计的控制策略不需要系统初始状态的先验知识且避免了预设时刻控制增益无穷大的现象，增强了系统的可靠性。最后，仿真结果表明所提控制策略的可行性及优越性。
Observer-based Prescribed Performance Bipartite Consensus for Human-in-the-loop Multi-manipulator Systems
This paper investigates the problem of prescribed performance bipartite consensus tracking control of a class of human-in-the-loop multi-manipulator systems with communication topology represented by a signed direc-ted graph.In order to converge to a prescribed accuracy within a prescribed time,an observer-based prescribed per-formance control strategy is proposed.First,a prescribed-time and prescribed-accuracy observer is designed to es-timate the leader's output information.Meanwhile,the bipartite consensus of observer outputs is achieved through cooperation/competition information exchange.Notably,the designed observer does not require inputs and higher-order derivatives of outputs of the leader manipulator.In addition,an event-triggered mechanism without Zeno be-havior is adopted to reduce the communication burden among different manipulators.Second,the constrained out-put tracking problem for manipulator systems is transformed into an unconstrained stability problem for error sys-tems by using backstepping and error transformation techniques.Subsequently,an output regulation controller for manipulator systems is designed based on observer outputs.It is worth mentioning that the proposed control strategy does not necessitate prior knowledge of the system's initial states and avoids the issue of infinite control gains at prescribed time,thereby enhancing the system's reliability.Finally,simulation results demonstrate the feasibility and superiority of the proposed control strategy.

Multi-manipulator systemsbipartite consensusprescribed-time and prescribed-accuracyhuman-in-the-loop control

刘沛明、郭祥贵

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北京科技大学自动化学院 北京 100083

北京市工业波谱成像工程技术研究中心 北京 100083

多机械臂系统 二分一致性 预设时间和精度 人在环控制

雄安新区科技创新专项国家自然科学基金国家自然科学基金广东省基础与应用基础研究基金北京自然科学基金北京自然科学基金

2023XAGG006262173028622330152024A 15150114934232060IS23065

2024

10.16383/j.aas.c230622

自动化学报
中国自动化学会 中国科学院自动化研究所

自动化学报

CSTPCD北大核心
影响因子：1.762
ISSN：0254-4156
年,卷(期)：2024.50(9)