基于扰动观测器的铆接机器人轨迹跟踪控制

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Abstract In order to solve the problem of higher chatter and lower trajectory tracking accuracy caused by external disturbances during the operation of the riveting robot, an adaptive control method combining a disturbance observer and a fractional-order sliding mode controller is designed. Firstly, the local dynamics model of the riveting robot is established by introducing the time delay estimation strategy, and the visible disturbances to the system model are observed in real time by using the disturbance observer, and secondly, the fractional-order sliding mode surface is designed to replace the traditional sliding mode control for the chatter, and the new convergence law is used to make the system move continuously and smoothly on the switching surface, and the adaptive strategy is designed to fully compensate for the external disturbances. Finally, the effectiveness of the designed controller is demonstrated by the Lyapunov function. The results show that the peak tracking errors of each joint of the robot are reduced by 50%, 59% and 63% respectively, compared with the fractional-order sliding mode control, the controller can not only effectively eliminate the chattering problem caused by the large interference of the system, but also improve the robustness and trajectory tracking accuracy of the riveting robot.

Key words： riveting robot trajectory tracking time-delay estimation(TDE) disturbance observer(DOB) fractional-order sliding mode control(FOSMC)

Received: 20 June 2022 Published: 28 July 2023

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	Articles by authors
	LI Zonggang1
	2
	LI Longxiong1
	2
	DU Yajiang1
	2
	CHEN Yinjuan1
	2

Cite this article:

LI Zonggang1,2,LI Longxiong1, et al. Disturbance observer based trajectory tracking control for a riveting robot[J]. JOURNAL OF VIBRATION AND SHOCK, 2023, 42(14): 296-305.

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http://jvs.sjtu.edu.cn/EN/ OR http://jvs.sjtu.edu.cn/EN/Y2023/V42/I14/296

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