基于Lyapunov稳定性的多自由度机械臂滑膜控制  

Sliding mode control for multiple degree of freedom manipulator based on Lyapunov stability theory

作　　者：杨婷[1] 贾朝川[2] 吴从兵[1] 

机构地区：[1]皖西学院电气学院,安徽六安237012 [2]皖西学院信息工程学院,安徽六安237012

出　　处：《齐齐哈尔大学学报（自然科学版）》2017年第3期25-30,共6页Journal of Qiqihar University(Natural Science Edition)

基　　金：2016年高校优秀青年人才支持计划重点项目(gxyqZD2016247);皖西学院自然基金青年项目(WXZR201603);皖西学院自然基金青年项目(WXZQ1417)

摘　　要：针对轨迹跟踪控制,精确的动力学模型难以建立的问题,首先,分别采用基于估计模型和基于模型上界两种方法,设计出不同的滑膜控制器,并通过Lyapunov稳定性定理从理论上证明了控制器的稳定性。其次,结合两自由度平面机械臂给出了其动力学方程线性化的推导过程,最后,通过仿真实验验证了控制算法的有效性。Actually,multiple degree of freedom manipulator is a complex multiple input multiple output system which is nonlinear,time varying and strong coupling. Therefore,the key problem which is the accurate dynamics model is difficult to establish for the trajectory tracking. Firs tly,sliding mode controller is designed using two methods respectively,which are based on the estimated model and based on upper bound of model,then the stability of the system is proved by the Lyapunov stability theorem. Secondly,combining with two degree of freedom planar manipulator,dynamic equation linearized derivation is demonstrated. Eventually,simulation results are presented to illustrate the performance o f the method.

关 键 词：多自由度机械臂 轨迹跟踪 滑膜控制 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]