快速收敛的机器人滑模变结构控制  

Fast Convergent Sliding Mode Variable Structure Control of Robot

作　　者：梅红[1] 王勇[1] 

机构地区：[1]山东大学机械工程学院,山东济南250061

出　　处：《信息与控制》2009年第5期552-557,共6页Information and Control

基　　金：山东省自然科学基金资助项目(Y2002F13);国家自然科学基金资助项目(50775130)

摘　　要：针对滑模变结构控制的收敛速度问题,提出了一种新的非线性滑模面.系统到达该滑模面上任一位置后,都能够以高于线性滑模和终端滑模的速度收敛到平衡点.同时,提出了一种新的双幂次趋近律,使得系统状态在趋近滑模面的全过程中,也能够拥有较高的速度,并消除了传统滑模变结构控制所固有的抖振.最后将该方法用于仿真机器人的路径跟踪控制,结果表明,系统具有较强的鲁棒性和较快的收敛速度,验证了该方案的有效性.To improve the convergence speed of sliding mode variable structure control, a new nonlinear sliding mode surface is proposed. When the system reaches any point of the new sliding mode surface, it can converge to the equilibrium point with a higher speed than both linear sliding mode surface and terminal sliding mode surface. At the same time, a new two-power reaching law is proposed which makes the system move toward the sliding mode with a high speed. And the chattering is also eliminated which is an inherent property of traditional sliding mode variable structure control. At last, this new method is used to simulate the trajectory tracking of a robot. The result shows that the system is of strong robustness and high convergence speed. The validity of this method is proved.

关 键 词：滑模变结构控制 滑模面 趋近律 轨迹跟踪 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]