摘要
针对机械臂滑模控制中存在的抖振问题,采用趋近律的方法来进行改善,在对机械臂的控制特点和常用的滑模趋近律进行分析的基础上,针对幂次趋近律的缺点,提出了一种改进的幂次趋近律,并对其趋近性能进行了分析;根据机械臂动力学模型和改进的幂次趋近律设计了相应的滑模控制策略,对其控制策略的位置跟踪特性和抖振消除能力等进行了验证;仿真结果表明,该控制策略不仅有效地抑制了机械臂滑模控制中的抖振问题,而且保证了机械臂系统对期望轨迹的快速跟踪性,具有更好的趋近特性和收敛特性。
The trending law is used to resolve the problem of chattering in sliding mode control for robotic manipulators.The control trait of robot manipulators and common trending law are analyzed,a new trending law is proposed and its trending performance is evaluated.The correlative sliding mode control scheme based on dynamic model of robotic manipulators and new trending law is designed.Then its position tracking and chattering control performances are validated.The simulation results show that the new scheme can not only control the chattering effectively but also achieve a fast and accurate position tracking,which is of better reaching and astringency performance.
出处
《计算机测量与控制》
CSCD
北大核心
2012年第2期380-382,391,共4页
Computer Measurement &Control
基金
军队2110实验室重点资助项目
关键词
机械臂
滑模控制
趋近律
抖振
robotic manipulator
sliding mode control
chattering
trending law
