摘要
机械臂是一类多输入多输出的非线性系统,存在参数不确定性、外界干扰及未建模动态等不确定性。由于摩擦等外界干扰,系统不确定性信息及参数变化对机械臂的运行造成不利影响。针对这些问题,本文提出基于模糊干扰观测器(FDO)的非线性滑模控制方案,在对外界干扰和不确定信息进行补偿的基础上,从稳定性出发,对不确定上界进行自适应估计,并逐步反推出控制器,可以很好地消除抖振问题。通过对空间二自由度机械臂进行仿真,得知该方案与普通的非线性滑模控制相比,具有更高的跟踪精度,并极大的提高了对外界干扰、系统不确定信息和参数变化的鲁棒性。
The manipulator is a kind of nonlinear system with multiple inputs and multiple outputs, uncertainties in parameters,external disturbances and unmodeled dynamics. Due to external disturbances such as friction, system uncertainty information and parameter changes on the manipulator. operation has an adverse effect. Aiming at these problems, this paper proposes a nonlinear sliding mode control scheme based on fuzzy disturbance observer(FDO). Based on the compensation of external disturbance and uncertain information, the adaptive upper bound is determined from the stability. And gradually push back the controller, which can eliminate the chattering problem very well. By simulating the spatialce two-degree-of-freedom manipulator, it is found that this scheme has higher tracking accuracy than ordinary nonlinear sliding mode control, and greatly improves the robustness to the external interference, system uncertainty information and the robustness of parameter changes.
作者
刘云飞
胡盛斌
李洋
李宝磊
徐恩松
钱雨辰
Liu Yunfei;Hu Shengbing;Li Yang;Li Baolei;Xu Ensong;Qian Yuchen(Shanghai University of Engineering Science, Aircraft transportation Institute, Shanghai 201620, China)
出处
《计算机时代》
2019年第1期1-4,共4页
Computer Era
关键词
模糊干扰观测器
非线性滑模控制
自适应
空间二自由度机械臂
鲁棒性
fuzzy disturbance observer
nonlinear sliding mode control
adaptive
spatial two-degree-of-freedom manipulator
robustness
