基于非线性干扰观测器的机械臂自适应反演滑模控制  

Adaptive Backstepping Sliding Mode Control for Robotic Manipulator with Nonlinear Disturbance Observer

作　　者：席雷平[1] 陈自力[1] 齐晓慧[1] 

机构地区：[1]军械工程学院,河北石家庄050003

出　　处：《信息与控制》2013年第4期470-477,共8页Information and Control

基　　金：军队重点实验室建设项目;军械工程学院院基金资助项目(YJJXM11015)

摘　　要：针对机械臂位置跟踪控制问题,设计了一种基于非线性干扰观测器的自适应反演滑模控制策略.对于干扰信号中的可观测部分,采用非线性干扰观测器进行在线观测,通过选择设计参数使观测误差指数收敛.针对引入非线性干扰观测器后的系统采用自适应反演滑模法设计控制器,控制律的设计保证了闭环系统的稳定性,自适应律的设计对未观测出的干扰进行了补偿,提高了机械臂的位置跟踪性能.仿真结果表明,该方法能够较好地克服对象的不确定性和外界随机干扰,改善了系统的控制性能.A new adaptive backstepping sliding mode control for robotic manipulator position tracking using nonlinear disturbance observer （NDO） is proposed. Nonlinear disturbance observer is used to observe the observable part of disturbance on line. By selecting the design parameters, the nonlinear disturbance observer can converge exponentially. Subsequently, an adaptive backstepping sliding mode controller is designed for the system with nonlinear disturbance observer. The proposed controller can guarantee the stability of the closed-loop system. By designing the adaptive law, the unobservable disturbance is compensated, which improves the position tracking performance of robotic manipulator. The simulation results show that the control strategy has perfect control performance to overcome the uncertainties and random disturbances, and improves the control performance of system.

关 键 词：机械臂 非线性干扰观测器 滑模控制 反演控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]