Robust Control For Robot With Discontinuous Factor

Discontinuous factor is ubiquitous in mechanical system, which degrades the performance of the system. In the present, research technique about discontinuous problem is most using discontinuous system theory and switched system theory. Discontinuous system theory provided better ideology and technique for the improvement of mechanical accuracy control as well as switched system theory. In view of discontinuous framework and characteristic presented in robotic system, this paper focuses on a series of theoretic research on robotic system with discontinuous factor, making an investigation into discontinuous system theory and switched system theory application in the robotic control system.Initially, using Lagrange Equation and a series of mathematical deduction, we develop the dynamic mathematical model for the discontinuous robot. Then, based on this model with the incorporation of switched system theory, adaptive switched controllers have been designed. The controller is preferable performance to continuous controller, avoiding high gain phenomenon, which can efficiently control parameter disturbance result from robotic system. In view of this controller could complete position regulation, the following research has also developed robust tracking controller, which will efficiently attenuate external disturbance. Because friction is discontinuous uncertainty in practical system, the controller can guarantee preferable robust performance of close–loop system with the external disturbances by using discontinuous system theory. And the trajectory of close-loop system is not necessary to discussion on the sliding surface. In addition, the research has also developed robust adaptive methods to robotic system with unkown coulomb friction parameter and external disrurbance by using discontinuous adaptive system theory. Simulation shows its better robust performance.