受动态约束的谐波传动式可重构模块机器人分散积分滑模控制  

Decentralized integral sliding mode control for time varying constrained modular and reconfigurable robot based on harmonic drive transmission

作　　者：董博[1,2] 刘克平[1] 李元春[1] 

机构地区：[1]长春工业大学控制工程系,长春130012 [2]吉林大学控制科学与工程系,长春130012

出　　处：《控制与决策》2016年第3期441-447,共7页Control and Decision

基　　金：国家自然科学基金项目(61374051);复杂系统管理与控制国家重点实验室项目(20150102);吉林省科技发展计划项目(20160414033GH;20150520112JH)

摘　　要：针对受外界动态约束的谐波传动式可重构模块机器人轨迹跟踪问题,提出一种基于关节力矩反馈的分散积分滑模控制方法.在无力/力矩传感器且存在耦合模型不确定性的条件下即能获得良好的控制品质.基于谐波传动模型,仅采用位置测量数据估计关节力矩,并建立机器人子系统动力学模型.基于可变增益超螺旋算法(VGSTA)设计分散积分滑模控制器,补偿模型不确定性并削弱控制器抖振.采用Lyapunov理论对系统的渐近稳定性进行了证明.数值仿真结果验证了所设计的控制器的优越性.For the problem of trajectory tracking of a time varying constrained harmonic drive based modular and reconfigurable robot（MRR）, a decentralized integral sliding mode control method based on the joint torque feedback technique is proposed. In the condition of existing coupling model uncertainty, a high-performance control can be achieved without using the force/torque sensor. Based on a harmonic drive model, the joint torque is estimated by using only position measurements of each MRR module, and the subsystem dynamic model of MRR is formulated. Based on the variable gain super twisting algorithm（VGSTA）, a decentralized integral sliding mode controller is designed to compensate the model uncertainty and reduce the chattering effect. The asymptotic stability of the system is proved by using the Lyapunov theory. Simulation results show the advantage of the proposed controller.

关 键 词：可重构模块机器人 谐波传动 分散控制 积分滑模控制 关节力矩反馈 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]