臺灣博碩士論文加值系統

機器人或機械手臂系統是一個高度非線性的多變數系統，在實際的工作環境下，外在的不確定性勢必對系統性能造成一定程度的影響，例如工作任務下的負載改變、或者是致動馬達的輸入干擾等。
本研究將針對機械手臂系統，在外擾或物理參數不確定性的影響之下，綜合「計算扭矩法」與「H∞最佳控制-變異漸近法」，設計一個非線性的強健控制器。計算扭矩法其優點在於將機械手臂系統回授線性化；而H∞控制理論的特點在於具備對干擾及不確定性的強健性，同時也能使控制能量及控制誤差最佳化。因此本文的研究設計，不但可以簡化複雜的機械手臂數學模型，也能達到最佳控制。
文末將以一個雙關節軸機械手臂為範例，在各種不同外在環境條件下，驗證所設計控制器的控制成果。

Robots or manipulator systems usually contain high nonlinearities and are classified as multi-variable systems. In many realistic environments, system performance is very sensitive to external disturbances or uncertainties: such as disturbance in actuators and the change of payload due to tasks...etc.
In this article, a robust design procedure composed of the “computed torque method” and “H∞-optimal control methodology” is proposed to achieve the desired performance by rejecting system disturbances and uncertainties.
The well-known “computed torque method” simplifies the complicated mathematical models of robot manipulators by the feedback linearization strategy. And the H∞-optimal control method can not only maintain the system robustness while encountering disturbances or uncertainties, but also lead to get an optimization result by weighting the controlled outputs and resulting a trade-off point between control energy and tracking errors.
In this research, a two-link rotary robot manipulator example is illustrated in computer simulations to attest the feasibility of the proposed control methodology under various external disturbances and parameter uncertainties.

摘要 I
Abstract II
誌謝 III
目錄 IV
表目錄 VI
圖目錄 VII
第一章 緒論 1
1.1 研究動機 1
1.2 文獻回顧 2
1.3 文章架構 3
第二章 機械手臂之系統模型 4
2.1 前言 4
2.2 機械手臂運動學 5
2.3 機械手臂動力學 13
第三章 H∞控制理論 20
3.1 H∞控制概念 20
3.2 H∞範數與H∞基本理論 21
3.3 加權擴增模型系統的H∞控制問題 23
3.4 求解最佳H∞控制問題-變異漸近法 24
3.5 最佳H∞控制之Scaling問題 30
3.6 最佳H∞控制問題的求解程序 33
第四章 機械手臂之最佳H∞控制器綜合設計 35
4.1 前言 35
4.2 計算扭矩法 35
4.3 具擾動與參數變化之機械臂H∞控制問題 37
4.4 具擾動與參數變化之機械臂系統H∞控制補償設計 39
4.5 Lure-type系統的絕對穩定性 47
4.6 設計流程 49
第五章 電腦模擬 52
5.1 系統描述 52
5.2 模擬結果 64
第六章 結論 86
參考文獻 87

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