快速终端滑模控制在并联机器人中的应用  

The application of fast terminal sliding mode control to parallel robot

作　　者：邬燕忠[1] 高国琴[1] 严琴[1] 

机构地区：[1]江苏大学电气信息工程学院,镇江212013

出　　处：《机械设计与制造》2010年第4期156-158,共3页Machinery Design & Manufacture

基　　金：镇江市工业科技攻关项目(GY2007006)

摘　　要：针对二自由度冗余驱动并联机器人,提出了并联机器人的快速终端滑模控制(FTSMC)以实现其鲁棒控制,并利用Lyapunov函数证明了该控制系统的稳定性。仿真结果表明,该控制系统跟踪效果好,系统误差小,可以满足并联机器人控制的要求。与采用普通滑模控制相比,该控制系统具有状态响应速度快,系统状态在有限时间内收敛到零的特点。仿真实验证实了该控制策略的正确性和有效性。Aiming at 2-DOF parallel robot which is drived by servo AC motor,fast terminal sliding mode control of parallel robot is presented in order to realize its robust control and the asymptotical stability of the closed-loop system is guaranteed using Lyapunov method. Simulation results show that the control method of tracking sliding takes good effect,the system error is small,satisfying the requirements of robot control. The controller gains advantages over conventional sliding mode control,which states respond quickly,system states are convergent in stated time. The simulation experiments confirmed the correctness of the control strategy and effectiveness.

关 键 词：并联机器人 快速终端滑模控制 控制策略 仿真 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]