Journal of South China University of Technology(Natural Science Edition) ›› 2012, Vol. 40 ›› Issue (1): 77-81,87.

• Mechanical Engineering • Previous Articles     Next Articles

Tracking Control of Industrial Robot Based on Time Delay Estimation and Robust H∞ Control

Liu Hai-tao  Zhang Tie   

  1. School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou 510640,Guangdong,China
  • Received:2011-06-15 Revised:2011-09-09 Online:2012-01-25 Published:2011-12-01
  • Contact: 刘海涛(1981-) ，男，博士生，主要从事机器人学与机器人控制研究． E-mail:gdliuht@126.com
  • About author:刘海涛(1981-) ，男，博士生，主要从事机器人学与机器人控制研究．
  • Supported by:

    国家“863”计划重点项目( 2009AA043901-3) ; 粤港关键领域重点项目( 20090101-1) ; 广东省科技计划项目( 2010B080703004) ; 广东省省部产学研合作引导项目( 2010B090400259)

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Abstract:

Proposed in this paper is a tracking control algorithm of 6-DOF ( Degree of Freedom) industrial robots,which takes advantage of both the time delay estimation and the robust H∞ control. In this algorithm,no complicated dynamic models of robots are required,so that the on-line and real-time computation about the robotic inverse dynamics is avoided. Moreover,time delay estimation is used to obtain the unknown dynamics and the external disturbances
of robots on line and to perform a compensation during the tracking control,and the L2-gain control is employed to guarantee the L2 disturbance attenuation for the time delay estimation error and to further improve the system robustness. In addition,the Lyapunov function and the Riccati inequality are employed to respectively guarantee
the asymptotic stability and H∞ robustness of a robotic closed-loop system. The proposed algorithm is of simple
computation,fixed structure and strong robustness and is easy to implement in practice. The simulations on a 2-DOF industrial robot demonstrate that the proposed algorithm is feasible and effective.

Key words: industrial robot, tracking control, time delay estimation, asymptotic stability, robustness