摘要
针对多连杆机械手的跟踪控制问题,提出了具有时变边界层的滑模变结构控制设计,同固定宽度边界层滑模控制相比,在削弱滑模控制中抖振现象和对参数不确定性的鲁棒性的同时,进一步提高了控制精度.
A sliding mode control with time- varying boundary layer for tracking control of multi -link robot is presented. Compared with conventional sliding mode control using constant boundary layer width, this control law can smooth out the chattering of sliding mode control, as well as robustness for external disturbances and parameter uncertainties. Furthermore, higher tracking ac- curacy is obtained.
出处
《机械与电子》
2007年第2期3-5,共3页
Machinery & Electronics
基金
湖南省教育厅重点科研项目(05A048)
关键词
机械手
时变边界层
滑模控制
manipulators
time - varying boundary layer
sliding mode control
