关键词: 机械臂, 自耦PID控制, 鲁棒稳定性, 抗扰动鲁棒性

Abstract: Aiming at the trajectory tracking problem of three link manipulator, an auto coupling PID control theory method was used. In this method, the known or unknown dynamics and external disturbances of each joint of the three link manipulator were defined as three total disturbances, and then the nonlinear system of each joint was mapped to an unknown linear system. According to the auto coupling PID control theory, three auto coupling PID control subsystems were established for the three link manipulator system to realize the independent tracking control of each joint. It was analyzed that each closed loop control subsystem had good robust stability and anti disturbance robustness. The simulation results verified the effectiveness of the proposed method and had important application prospects in the field of manipulator trajectory tracking control.

Key words: manipulator, ACPID control, robust stability, anti disturbance robustness