摘要
针对机械臂关节运动的轨迹跟踪控制问题,研究了一种改进的递归滑模动态面抗扰控制方法。该方法考虑到机械臂系统存在的外部干扰,设计了一种基于非线性光滑函数的非线性扩张状态观测器(NLESO),对外部干扰进行估计并前馈至系统控制输出进行补偿;基于NLESO构造递归滑模动态面的控制策略,利用反双曲正弦函数和幂次函数构造一种新的非线性增益函数设计改进型动态面控制律。该方法避免了反推法存在的"微分爆炸"问题,有效解决了传统动态面控制存在的控制精度与动态品质之间的矛盾问题,基于Lyapunov理论方法分析证明了系统的稳定性。仿真结果表明,该方法响应速度快、控制精度高、抗扰能力强,抑制了滑模的抖振问题。
An improved recursive siding mode dynamic surface disturbance rejection control method is proposed to solve the trajectory tracking problem of manipulator joint motion.Considering external disturbance existing in the manipulator,a NonLinear External State Observer(NLESO)based on nonlinear smoothing function was designed to estimate the external disturbances and compensate the control input.A recursive sliding mode dynamic surface control algorithm with NLESO was proposed.A new nonlinear gain function was constructed using inverse hyperbolic sinusoidal function and power function to design an improved dynamic surface control law.The method avoids the"complexity of explosion"problem of backstepping method,and effectively solves the contradiction between the control precision and the dynamic quality of the traditional dynamic surface control.The system stability is proved by Lyapunov theory.Simulation results verify that the method improves the tracking response speed,has high control accuracy and strong anti-disturbance capability,and effectively weakens chattering.
作者
刘晴
曾喆昭
方云熠
王可煜
LIU Qing;ZENG Zhe-zhao;FANG Yun-yi;WANG Ke-yu(School of Electrical&Information Engineering,Changsha University of Science&Technology,Changsha 410076,China)
出处
《测控技术》
2020年第1期102-107,共6页
Measurement & Control Technology
基金
湖南省教育厅重点项目资助(17A006)
关键词
机械臂
非线性扩张状态观测器
递归滑模
动态面控制
非线性增益函数
manipulator
nonlinear external state observer(NLESO)
recursive sliding-mode
dynamic surface control
nonlinear gain function
