基于低通滤波器的跳跃机器人滑模控制  

Sliding mode control of hopping robot based on the low pass filter

作　　者：起雪梅[1] 张敬东[1] 

机构地区：[1]攀枝花学院交通与汽车工程学院,四川攀枝花617000

出　　处：《机械》2015年第3期26-28,46,共4页Machinery

摘　　要：针对单关节跳跃机器人的轨迹跟踪、速度跟踪和振动问题,提出一种基于低通滤波器的滑模控制算法。基于Lynapunov算法设计滑模控制律,并对该算法进行了稳定性分析。利用MATLAB对单关节跳跃机器人的控制器进行了动态仿真,仿真结果表明:该算法能够快速地实现单关节跳跃机器人的位置跟踪和速度跟踪,并且相比未加入低通滤波器的单关节跳跃机器人,加入低通滤波器的单关节跳跃机器人能很好地抑制抖振,从而提高了机器人的工作品质。Aim at the issue of trajectory tracking, speed tracking and vibration for the hopping robot with single joint, the sliding mode control method based on low-pass filter was proposed in this paper. Based on the Lynapunov algorithm, the sliding mode control law was designed and the stability of the algorithm was analyzed. The controller of the hopping robot with single joint was dynamically simulated in MATLAB. The simulation results show that the algorithm can quickly realize position tracking and speed tracking of the hopping robot with single joint. Compared the hopping robot without the low-pass filter, the hopping robot with low-pass filter can better restrain the chattering, thus the working quality of the hopping robot was improved,.

关 键 词：低通滤波器 跳跃机器人 滑模控制 抖振 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]