一种新的机器人轨迹跟踪滑模变结构控制  

A Novel Variable Structure Control for the Tracking of Robot

作　　者：许春山[1] 孙兴进[1] 曹广益[1] 

机构地区：[1]上海交通大学自动化系统燃料电池研究所,上海200030

出　　处：《计算机仿真》2004年第7期115-118,共4页Computer Simulation

摘　　要：该文在传统变结构控制趋近律的基础上,提出一种快速平滑趋近律,并作仿真比较;同时对其滑动模态作改进,引入非线性项,提出一种快速收敛滑动模态。在选择滑动模态的切换方式后,将新的变结构控制器应用于机器人的轨迹跟踪控制中,在对系统的抗干扰能力进行分析后,作了相应的仿真研究。A novel reaching law called Rapid-Smooth Reaching Law (RSRL) is proposed by analysis and comparing with normal reaching law. At the same time, the normal sliding mode is improved, and a novel sliding mode called Rapid-Convergence Sliding Mode (RCSM) is proposed by introducing nonlinear item. The novel Variable Structure Control (VSC) is then used for the tracking of robot after selecting the switch mode of sliding mode. In the end, corresponding simulation has been done.

关 键 词：机器人 轨迹跟踪滑模变结构控制 趋近律 滑动模态 抗干扰能力 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]