3-RRRT并联机器人解耦的反演自适应动态滑模控制  

Decoupled Backstepping Adaptive Dynamic Sliding Mode Control of A 3-RRRT Parallel Robot

作　　者：刘延斌[1] 韩秀英[1] 许晖[2] 

机构地区：[1]河南科技大学机电工程学院 [2]中科院长春光机所,长春130033

出　　处：《系统仿真学报》2008年第14期3633-3636,共4页Journal of System Simulation

基　　金：天津自然科学基金项目(05YFJMJC04900);河南科技大学重大科技前期预研专项(2005ZD001);河南省教育厅自然科学计划项目(2006460004).

摘　　要：针对3-RRRT型搬运机器人提出一种解耦的反演自适应动态滑模控制方法,以提高控制精度和鲁棒稳定性。首先利用非线性补偿方法将系统解耦成线性系统,运用一阶动态滑模设计新的滑模面,然后利用基于李亚普诺夫函数的Backstepping控制设计方法和自适应控制技术,设计了全局渐近稳定的系统控制器,最后利用MATLAB进行了系统控制数值仿真,结果表明,对3-RRRT型并联机器人的这种强耦合的、具有不确定性的非线性系统,采用该解耦的反演自适应动态滑模控制方法,可以达到理想的控制精度,并能保障系统的鲁棒稳定性。A decoupled Backstepping adaptive dynamic sliding mode control method for a 3-RRRT parallel robot was presented to heighten its control precision and robust stability. Firstly, mechatronic system model of the parallel robot was decoupled into three unattached linear systems using non-linear compensating method, and by use of first order dynamic sliding mode, new sliding mode surface was designed, and then all-around gradational stable controller of the mechatronic system was designed using Backstepping control design method and adaptive control technology, finally, numerical simulation of the control system was done using MATLAB, and the simulation results show that very high control precision, and robust stability are acquired using the decoupled adaptive dynamic sliding mode control method for the violently coupling and nonlinear 3-RRRT parallel robot system with uncertainness.

关 键 词：并联机器人 解耦控制 动态滑模控制 自适应控制 

分 类 号：TH112[机械工程—机械设计及理论]