半结构环境中电力作业机器人机械手鲁棒轨迹跟踪控制

在输电线路高电压、强电磁干扰的恶劣半结构环境下，为有效抑制扰动信号及各种不确定性因素对电力作业机器人机械手轨迹跟踪精度和运动稳定性的影响，提出了一种基于H∞控制理论的机器人机械手鲁棒轨迹跟踪运动控制方法.通过机器人控制体系结构的分层，利用拉格朗日法并结合关节电机电枢电压方程对机器人的不同动力学行为进行了动力学建模，获取了机器人动力学行为和动力学参数的映射模型，在此基础上推导出了扰动及不确定性因素情况下关节运动控制的状态空间表达式，并以此构建立了机械手H∞轨迹跟踪控制模型，利用线性矩阵不等式（LMI）求解了相应的轨迹跟踪H∞控制器，最后通过仿真实验验证了H∞控制的有效性.现场作业试验进一步验证了该控制方法的工程实用性，同时该控制方法具有通用性好、适应性强、易于扩展的显著特性. 

Manipulator Robust Trajectory Tracking Control for Electric Power Operation Robot in Semi-Structured Environment

In order to effectively suppress the influence of disturbance signals and a variety of uncertainties on tracking precision and stability of manipulator for transmission line electric power operation robot in a harsh semi-structured environment with high voltage and strong electromagnetic interference, a robot manipulator trajectory tracking robust control method based on H∞ control theory was proposed in this paper. Firstly, layering robot control architecture, the different dynamic behaviors of robot were modeled based on Lagrange method and armature voltage equation, obtaining a mapping model of robot kinetic behaviors and kinetic parameters. Then on this basis, the space state expression of the manipulator joint motion control under the condition of disturbances and uncertainties was deduced, a manipulator motion H∞ control model was established, and the control system H∞ controller for manipulator trajectory tracking was also solved with linearity matrix inequality (LMI). Finally, the simulation and field operation experiments were carried out. The results show the effectiveness of the H∞ control, the engineering feasibility of the control method, and the remarkable characteristics in sound universality, adaptability and easy expansion.