基于光滑二阶滑模的机械臂轨迹跟踪控制

doi:10.16182/j.issn1004731x.joss.20-0143

系统仿真学报 ›› 2021, Vol. 33 ›› Issue (6): 1315-1322.doi: 10.16182/j.issn1004731x.joss.20-0143

基于光滑二阶滑模的机械臂轨迹跟踪控制

张瑞民, 陈巧玉

河南科技大学数学与统计学院,河南洛阳 471000

收稿日期:2020-03-25 修回日期:2020-05-22 出版日期:2021-06-18 发布日期:2021-06-23
作者简介:张瑞民(1979-),男,博士,讲师,研究方向为滑模控制、智能控制。E-mail：zhangrim@163.com
基金资助:
河南科技大学博士科研启动基金(13480043); 河南科技大学青年科学基金(2015QN021)

Trajectory Tracking Control of Robotic Manipulators Based on Smooth Second-order Sliding Mode

Zhang Ruimin, Chen Qiaoyu

School of Mathematics and Statistics, Henan University of Science and Technology, Luoyang 471000, China

Received:2020-03-25 Revised:2020-05-22 Online:2021-06-18 Published:2021-06-23

摘要/Abstract

摘要： 针对机械臂系统具有的强非线性、强耦合、多输入多输出、不确定性等特点,提出一种多变量光滑二阶滑模轨迹跟踪控制方法,该方法能够有效地消除传统滑模控制中固有的抖振现象,并且具有较快的收敛速度。采用李雅普诺夫稳定性理论证明了所提方法具有有限时间收敛性。最后,将所提方法应用于存在模型不确定性以及外界干扰的两关节机械臂轨迹跟踪控制,对比仿真结果表明所提方法的有效性,而且具有较高的控制精度和较强的鲁棒性。

关键词: 机械臂, 轨迹跟踪, 滑模控制, 光滑二阶滑模, 有限时间收敛

Abstract: The robotic manipulators have characteristics of strong nonlinearity, strong coupling, multiple input and output, uncertainties, and so on. It is necessary to proposed a multivariable smooth second-order sliding mode trajectory tracking control method. The method can eliminate the chattering in the conventional sliding mode control and increase convergence speed. The property of finite time convergency is proved by the Lyapunov stability theory. Furthermore, the method is applied for the tracking control of two-joint robotic manipulators with model uncertainty and external disturbances. The simulation results show that the proposed method is effective and has high control precision and strong robustness.

Key words: manipulator, trajectory tracking, sliding mode control, smooth second order sliding mode, finite time convergence

中图分类号:

TP273

张瑞民, 陈巧玉. 基于光滑二阶滑模的机械臂轨迹跟踪控制[J]. 系统仿真学报, 2021, 33(6): 1315-1322.

Zhang Ruimin, Chen Qiaoyu. Trajectory Tracking Control of Robotic Manipulators Based on Smooth Second-order Sliding Mode[J]. Journal of System Simulation, 2021, 33(6): 1315-1322.

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基于光滑二阶滑模的机械臂轨迹跟踪控制

Trajectory Tracking Control of Robotic Manipulators Based on Smooth Second-order Sliding Mode

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