无需速度反馈，可精准抑制外部干扰的机器人末端控制方法
Velocity-free task-space regulator for robot manipulators with external disturbances
- 基于内模原理与无源输出反馈，设计免速度感知控制器
- 实现任务空间误差渐近收敛并有效抵消周期性干扰
- 结构简单，参数调节直观，适合多关节机械臂应用
本文研究受外部干扰影响的机器人末端任务空间鲁棒调节问题。提出一种无需速度反馈的控制律，融合内模原理与无源输出反馈控制方法。所设计控制器不仅能保证调节误差渐近收敛，还可有效抑制非期望的外部正弦干扰。该方法优势在于结构简洁、思路直观，且多关节机械臂控制系统的设计具有明确的增益选择准则。
原文摘要 · Abstract (English)
This paper addresses the problem of task-space robust regulation of robot manipulators subject to external disturbances. A velocity-free control law is proposed by combining the internal model principle and the passivity-based output-feedback control approach. The resulting controller not only ensures asymptotic convergence of the regulation error but also rejects unwanted external sinusoidal disturbances. The potential of the proposed method lies in its simplicity, intuitiveness, and straightforward gain selection criteria for the synthesis of multi-joint robot manipulator control systems.
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