论文标题
虚拟分解控制的分散观察者设计
Decentralized Observer Design for Virtual Decomposition Control
论文作者
论文摘要
在本文中，我们将速度观察者设计纳入了$ n $ dof开放链机器人操纵器的虚拟分解控制（VDC）策略。从VDC策略中下降，拟议的设计基于将$ n $ dof操纵器分解为子系统，即刚性链接和关节，可以在本地进行分散的控制器 - 观察者实现。与VDC相似，组合的控制器观察者设计基于无源率，我们表明它达到了跟踪误差的半光盘指数收敛性。使用基于观察者和控制器误差动力学的Lyapunov函数进行收敛分析。在垂直平面中的二-DOF开放链机器人操纵器的仿真研究中证明了所提出的设计。
In this paper, we incorporate velocity observer design into the virtual decomposition control (VDC) strategy of an $n$-DoF open chain robotic manipulator. Descending from the VDC strategy, the proposed design is based on decomposing the $n$-DoF manipulator into subsystems, i.e., rigid links and joints, for which the decentralized controller-observer implementation can be done locally. Similar to VDC, the combined controller-observer design is passivity-based, and we show that it achieves semiglobal exponential convergence of the tracking error. The convergence analysis is carried out using Lyapunov functions based on the observer and controller error dynamics. The proposed design is demonstrated in a simulation study of a 2-DoF open chain robotic manipulator in the vertical plane.
