摘要
为了消弱滑模控制高频抖振,提出一种新型开关切换函数,代替传统的符号函数。以多自由度串联机器人的动力学模型为研究对象,利用该新型开关切换函数,设计了一种滑模控制律,并证明多自由度机器人滑模控制系统渐近稳定。两自由度机器人滑模控制的仿真实验表明,两个关节都实现了较高的角位置和角速度跟踪精度,并且动态响应较快。同时,与采用符号函数作为开关切换函数的机器人滑模控制系统相比,有效消弱了滑模控制量的高频抖振。该新型开关切换函数具有通用性,适用于机载光电稳定平台、导弹制导等其它滑模控制系统。
A novel switching function which replaces the sign function is presented in order to reduce high frequency chattering of the sliding model control. The dynamics model of multi-DOF serial robot manipulators is studied. A sliding control law with this novel switching function is designed and the asymptotic stability of the sliding model control of robot manipulators is proved. The simulation experiments of the sliding model control of 2-DOF robot manipulators illustrate that two links have higher angular position tracking accuracy and speed tracking accuracy. Moreover, its dynamic response is faster. The sliding model control system with the novel switching function reduces high frequency chattering effectively compared with the sliding model control system with the sign function. This novel switching function can be used on other sliding model control systems, for instance, the airborne electro-optical stabilized platform and missile guidance.
作者
周涛
王磊
Tao Zhou and Lei Wang(College of Electronics and Information Engineering, Tongji University, Shanghai 201804, China College of Physics and Elec- tronics Information, Luoyang Normal University, Luoyang 471934, China)
出处
《光电工程》
CAS
CSCD
北大核心
2017年第5期534-538,共5页
Opto-Electronic Engineering
基金
国家自然科学基金资助项目(61273161)
河南省高等学校重点科研项目(18A413008)
关键词
开关切换函数
滑模控制
机器人
高频抖振
跟踪精度
switching function
sliding model control
robot manipulator
high frequency chattering
tracking accuracy
