基于高阶滑模的双连杆柔性机械臂轨迹跟踪控制  

The trajectory tracking control of 2-DOF robot manipulator based on high order sliding mode Based

作　　者：高欢 吴庆宪[1] 

机构地区：[1]南京航空航天大学自动化学院,江苏南京211106

出　　处：《机械设计与制造工程》2017年第11期67-71,共5页Machine Design and Manufacturing Engineering

摘　　要：针对双连杆柔性机械臂研究了一种高阶滑模轨迹跟踪控制方案。根据拉格朗日方程及能量守恒定律给出了柔性机械臂的动力学方程,并将动力学方程转化为三阶非线性系统模型,方便控制器的设计。在此基础上,利用高阶滑模理论设计了双连杆柔性机械臂轨迹跟踪控制方案,不仅能保证系统在有限时间内稳定,还能削弱传统滑模控制对系统造成的抖振。最后用仿真实验证明了该控制方法的有效性。It proposes a high order sliding mode trajectory tracking control for two degrees of flexible（ 2-DOF）robot manipulator. Based on Lagrange＇s equations and energy conservation law,it obtains the dynamic equation of 2-DOF robot manipulator. For easy designing the control system,it converses this equation to a nonlinear system modal with three degree. On this basis,it employs the theory of high order sliding mode to design the 2-DOF robot manipulator＇s trajectory tracking scheme,which not only guarantee the finite time stability for system,but also weaken the chattering problem in traditional sliding mode control. At last,the simulation results demonstrate the performance of the designed control scheme.

关 键 词：柔性机械臂 轨迹跟踪控制 高阶滑模 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]