电液伺服型并联式加注机器人运动轨迹跟踪控制

针对电液伺服型并联式加注机器人在实际任务中广泛存在的模型不确定和强外干扰问题，提出一种基于关节有限时间扰动估计(FTDO)的动力学解耦反步鲁棒控制策略。首先，将系统处理为一组受外部扰动关节子系统的集合，进而针对各关节通过设计两个有限时间扰动观测器实现了对关节中匹配与不匹配不确定性的有限时间同步精确估计和补偿。同时，基于系统的动力学解耦模型，通过设计反步鲁棒控制器保证了闭环系统的稳定性。最后，通过Lyapunov方法验证了闭环系统信号的有界性和关节跟踪误差的有限时间渐近收敛特性。试验结果表明，控制器在不同工况下均具有良好的轨迹跟踪性能和关节抗干扰能力，能够满足在实际加注任务中的应用需求 。

Motion Trajectory Tracking Control of an Electro Hydraulic Servo Parallel Filling Robot

Aiming at the trajectory tracking of a hydraulic parallel filling robot which contains model uncertainties and larger external disturbances, a dynamic decoupling backstepping robust control strategy based on a joint finite time disturbance observer (FTDO) is proposed. Firstly, the parallel manipulator is treated as a set of joint subsystems with external disturbances, and then two FTDOs are synthesized for each actuator to realize the accurate estimations of both the matched and unmatched uncertainties. Meanwhile, based on the system decoupled dynamic model in the joint space, a backstepping robust controller is synthesized to stabilize the closed-loop system. Finally, the boundedness of all the signals in the closed-loop system and the finite-time asymptotic convergence of the joint tracking errors are verified theoretically via the Lyapunov method. The experiment results show that the proposed controller has excellent trajectory tracking performance and strong joint anti-disturbance ability under different work conditions, which can meet the application requirements in the practical filling task.