基于快速非奇异终端滑模的机械臂轨迹跟踪方法

doi:10.13229/j.cnki.jdxbgxb20181083

吉林大学学报(工学版) ›› 2020, Vol. 50 ›› Issue (2): 464-471.doi: 10.13229/j.cnki.jdxbgxb20181083

• 车辆工程·机械工程 • 上一篇

基于快速非奇异终端滑模的机械臂轨迹跟踪方法

王伟^1,²( ),赵健廷^1,²,胡宽荣³,郭永仓⁴

^1.北京理工大学宇航学院, 北京 100081
^2.北京理工大学无人机自主控制技术北京市重点实验室, 北京 100081
^3.西北工业集团科研设计所, 西安 710299
^4.西北工业集团质量部, 西安 710299

收稿日期:2018-10-27 出版日期:2020-03-01 发布日期:2020-03-08
作者简介:王伟（1984-），男，讲师，博士.研究方向：飞行器总体设计，控制工程.E-mail:wangweiyh@bit.edu.cn
基金资助:
国家自然科学基金项目(61172182)

Trajectory tracking of robotic manipulators based on fast nonsingular terminal sliding mode

Wei WANG^1,²(),Jian-ting ZHAO^1,²,Kuan-rong HU³,Yong-cang GUO⁴

^1.School of Aerospace Engineering，Beijing Institute of Technology，Beijing 100081，China
^2.Beijing Key Laboratory of UAV Autonomous Control Technology，Beijing Institute of Technology，Beijing 100081，China
^3.Research and Design Institute，Northwest Industrial Group，Xi'an 710299，China
^4.Quality Department，Northwest Industrial Group，Xi'an 710299，China

Received:2018-10-27 Online:2020-03-01 Published:2020-03-08

摘要/Abstract

摘要：

为使机械臂按预定轨迹运行，设计了一种基于快速非奇异终端滑模的新型现代控制方法。该方法结合了传统的快速终端滑模和非奇异终端滑模，具有快速性、非奇异性、有限时间收敛性和强鲁棒性，并可有效抑制滑模控制器固有的抖振现象。首先，将机械臂简化为二自由度刚性连杆系统并建立数学模型；其次，设计鲁棒控制器；然后，构造李雅普诺夫函数验证其稳定性；最后，详细的对比仿真表明了本文方法的有效性。

关键词: 自动控制技术, 机械臂控制, 终端滑模控制理论, 非奇异性, 有限时间收敛性

Abstract:

To drive the robotic manipulator tracking the desired trajectory, a novel modern control method based on the nonsingular terminal sliding mode is designed in this paper. Combining the traditional fast terminal sliding mode and the nonsingular terminal sliding mode, the proposed control method possesses the characteristics of rapidity, nonsingularity, finite-time convergence and strong robustness. The chattering from sliding mode controller can also be suppressed effectively. Here, the mathematical model of robotic manipulator structure which can be simplified as a 2-DOF rigid linkage system is built, firstly. Next, a robust controller is designed. Then, the Lyapunov function is constructed to verify its stability. Finally, detailed simulations with some comparisons demonstrate the effectiveness of the proposed method.

Key words: automatic control technology, manipulator control, terminal sliding mode control theory, nonsingularity, finite-time convergence

中图分类号:

TP273

王伟,赵健廷,胡宽荣,郭永仓. 基于快速非奇异终端滑模的机械臂轨迹跟踪方法[J]. 吉林大学学报(工学版), 2020, 50(2): 464-471.

Wei WANG,Jian-ting ZHAO,Kuan-rong HU,Yong-cang GUO. Trajectory tracking of robotic manipulators based on fast nonsingular terminal sliding mode[J]. Journal of Jilin University(Engineering and Technology Edition), 2020, 50(2): 464-471.

图/表 10

图1

图2

表1

各滑模及控制器设计参数"

滑模及控制器	$β$	$a$	$b$	$ε$
FTSM	$7.5$	$5$	$3$	$5$
NTSM	$7.5$	$5$	$3$	$5$
FNTSM	$7.5$	$5$	$3$	$5$

表2

控制参数"

Case	$β$	$λ$	$α$
1	7.50	150	100
2	3.75	150	100
3	7.50	75	50

表2

图8

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