Research On Control Of Input Delay Machine Based On Hamilton Method

Robotic systems are a class of complex nonlinear automatic control systems. In the robotic systems, acquisition and transmission of the sensor signal, the calculation of the controller and actuation process of the actuator, can lead to time delay appears in the system.Moreover, there always exist a variety of uncertainties such as parametric uncertainties,payload uncertainties, model uncertainty and unmodeled dynamics characteristics in the robotic systems. These uncertainties and delay phenomenon may reduce the performance of the system and even lead to instability of the system. Therefore, in order to get a better performance of control, these factors cannot be ignored. In recent years, considerable attentions have been received about the study of uncertain robotic systems with input delay.It is the problem faced by robust control that how to design the controller makes the system in the presence of uncertainties and input delay keep its stability and how to design the controller enables the system to achieve the purpose of the disturbance attenuation.Augmented Hamilton system which has simple structure and clear physics meaning. The Hamilton function of port-controlled Hamilton systems represents the total energy, which makes the system of selection of Lyapunov function more simple and sometimes can be taken as a Lyapunov function for the system. Energy-based control method has drawn a great deal of attention.The mainly content is as follows:1) The design of controller which makes robotic systems with uncertainties and time varying delay is robustly asymptotically stable.Firstly, transform robotic systems with model uncertainty and input time delay to timedelay Hamilton formulation. Then, the method of output feedback which is based on the Hamilton formulation, is used to ensure the Hamilton system is asymptotically stable. Furthermore, the asymptotic stability of the controller and some su?cient conditions are obtained for the original system. At last, simulation of a two-link robot manipulator is presented to illustrate the e?ectiveness of the achieved results in this paper.2) The design of controller which investigates the problem of L2-disturbance attenuation for robotic systems with model uncertainty and input time delay.First of all, Hamilton realizations for both full actuated and underactuated robotic systems with model uncertainty and input time delay are considered. Then the controller is designed based on Hamilton system, which solves the problem of L2-disturbance attenuation for both full actuated and underactuated robot manipulator with model uncertainties and input delay. At last, simulation is presented to illustrate the e?ectiveness of the achieved results in this paper.