Abstract: For the three-link robot controller design problem, the control law based on link rotation angle and angular velocity is proposed and solved the problem of three-link robot control. Firstly, with the proposed controller parametrization, the three-link robot system, though nonlinear, can be turned into a constant linear system with desire eigenstructure. Secondly, in such a design there are still degrees of freedom which may be further utilized to improve the system performance. Finally, a direct parametric algorithm is proposed and the validity of the algorithm is verified by Simulink. And the simulation results show that the three-link robot is supposed to arrive the UEP (upright equilibrium point) steady by the function of the controller.

Key words: Three-link robot, time-varying system, feedback control law, eigenstructure assignment

摘要： 针对三连杆机械臂控制器设计问题，提出了关于连杆旋转角及角速度的参数化控制律，解决了三连杆机械臂控制问题。首先，虽然三连杆机械臂系统是非线性系统，但可转化为具有我们期望特征结构的线性定常系统，从而提出控制器的参数化形式。其次，在这样的设计中，仍有可进一步利用的自由度，用来提高或改善系统的性能。最后，提出直接参数化算法并运用Simulink进行仿真验证算法的有效性，且仿真结果证明所设计控制器能够实现三连杆机械臂稳定运动到直立平衡点。

关键词: 三连杆机械臂, 时变系统, 反馈控制律, 特征结构配置