摘要
针对机械臂轨迹跟踪滑模控制中存在的抖振问题,采用趋近律的方法来进行有效改善,提出了一种新的滑模趋近率,建立了双关节机械臂运动模型,通过李雅普诺夫函数证明了传统趋近率与所提趋近率的稳定性,分析了所提趋近率的优势。仿真结果显示,所提方法在与传统控制性能相似的情况下,可以通过取小趋近率的参数,以达到减小抖动的目的。
A novel reaching low is proposed in this paper.By constructing a dual joint manipulator model and guaranteeing the stability of traditional and proposes reaching law with Lyapunov function,the merit of the proposed reaching low is discussed.Simulation results show that with the same performance,the proposed method can decrease the parameter of the reaching law to control the chattering effectively.
出处
《工业控制计算机》
2018年第12期102-103,105,共3页
Industrial Control Computer
关键词
机械臂
滑模控制
趋近率
robot manipulator
sliding mode control
reaching law
