基于自适应终端滑模控制器的机械手跟踪控制  

Robotic manipulators tracking control based on adaptive terminal sliding mode controller

作　　者：唐庆顺[1] 金璐[1] 李国栋[1] 吴春富[1] 

机构地区：[1]龙岩学院机电工程学院,福建龙岩364012

出　　处：《山东大学学报（工学版）》2016年第5期45-53,共9页Journal of Shandong University（Engineering Science）

基　　金：国家自然科学基金资助项目(61375084);福建省自然科学基金面上资助项目(2015J01268);福建省自然科学基金高校专项资助项目(2012D103);福建省教育厅科技计划资助项目(JK2014049);福建省科技厅引导性资助项目(2016H0026)

摘　　要：针对具有不确定性的机械手轨迹跟踪控制问题,提出一种自适应二阶终端滑模控制器设计方法。设计一类非线性不确定系统的自适应二阶终端滑模算法,使得不连续符号函数包含在控制微分项,实际控制作用连续;采用自适应律克服不确定性上界未知问题,基于Lyapunov方法证明系统稳定性;针对机械手轨迹跟踪问题,基于所提出控制方法设计机械手自适应终端滑模控制方案;通过对双关节机械手轨迹跟踪仿真研究,验证所提出控制策略的有效性。A self-adaptive second-order terminal sliding mode controller was proposed to achieve trajectory tracking control of robotic manipulators with uncertainties. The self-adaptive second-order terminal sliding mode algorithm was designed for a class of nonlinear uncertain system. The discontinuous sign function was included in first time derivative of control item,and the actual control input was continuous. The self-adaptive lawmethod was employed to conquer system uncertainties,of which the upper bounds were unknown in advance,and the system stability was proved based on Lyapunov criterion. The robotic manipulators self-adaptive terminal sliding mode trajectory tracking control scheme was proposed. Simulation results for two-link robotic manipulator demonstrated the effectiveness of the proposed control strategy.

关 键 词：终端滑模 二阶滑模 机械手 自适应 轨迹跟踪 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]