机器人多模型反演滑模控制策略研究  

Multi-Model Back-Stepping Sliding Mode Control of Robotic Manipulators

作　　者：姜寅令[1] 于显利[2] 

机构地区：[1]东北石油大学电气信息工程学院,黑龙江大庆163318 [2]吉林大学地球探测科学与技术学院,长春130026

出　　处：《吉林大学学报（信息科学版）》2014年第4期418-422,共5页Journal of Jilin University（Information Science Edition）

基　　金：2014年度黑龙江省青年科学基金资助项目(41417837-8-13089)

摘　　要：针对机器人工作环境的改变对系统模型产生的影响问题,提出了一种机器人多模型反演滑模控制策略。对传统多模型控制的PID(Proportion-Integral-Differential)型切换指标进行了改进,形成带权值和遗忘因子的PID型切换指标,使切换指标更具实时性。不同于采用先前的估计虚拟控制输入作为当前控制输入,引入滑模面作为虚拟控制输入,消除了机器人运动模态的导数项,简化了控制率,然后利用Lyapunov直接法保证稳定性。仿真结果验证了所设计的控制策略的有效性。To solve the problem that the environment changing imparts the system model, a good way to improve the performance of the controller is to use multiple models control if models are approximately available for different environments. We design a PID （Proportion-Integral-Differential） performance index with weighting factors and forgetting factors, which make the performance index more in real-time. This backstepping controller applied to Robot Manipulator, differs from standard backstepping in that the virtual control inputs are designed based on estimates of the previous virtual control inputs. This eliminates the need for taking derivatives of the system dynamics, which simplifies the control law. The design methodology is based on the Lyapunov stability. The simulation results demonstrate the effectiveness and fasibility of the proposed control strategy. PID-type switching index function, which increased forgetting factor making the witching more accurate and reasonable. The simulation results demonstrate the effectiveness and fasibility of the proposed control strategy.

关 键 词：多模型控制 反演控制 滑模控制 机器人 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]