一种机械臂终端滑模控制方法  

Terminal Sliding Mode Control Method for Robotic Manipulators

作　　者：崔宁[1] 王博[2] 毛宁[3] Cui Ning;Wang Bo;Mao Ning(School of Mechanical and Electronic Engineering, Zhuhai City Polytechnic, Zhuhai 519090, China;School of Mechanical and Automotive Engineering, Zhuhai College of Jinlin University, Zhuhai 519041, China;School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China)

机构地区：[1]珠海城市职业技术学院机电工程学院,珠海519090 [2]吉林大学珠海学院机械与汽车工程系,珠海519041 [3]北京理工大学宇航学院,北京100081

出　　处：《航天控制》2018年第3期33-39,共7页Aerospace Control

基　　金：国家自然科学基金项目资助(61172182)

摘　　要：为了降低由机械臂非线性与强耦合性等特点造成的控制不稳定影响,设计了一种新型基于终端滑模控制理论的现代控制方法。该方法具有强鲁棒性与有限时间收敛性,且能有效抑制抖振。将机械臂系统化简为二自由度连杆系统,通过拉格朗日方法建立数学模型。设计具有有限时间收敛特性的鲁棒控制器,并以李雅普诺夫方法为工具对所设计方法的稳定性进行验证。数学仿真验证了其可行性与有效性,即所述方法能够分别控制机械臂双杆的角速度与角加速度于有限时间内收敛至期望值,具有强鲁棒性,抗干扰能力强,且抖振抑制效果良好。Nonlinearity and strong coupling can result in terrible performance of general robotic manipulators. In order to reduce this undesirable influence,based on terminal sliding mode control theory,a novel modern control method is proposed. This method is strong robust,finite time convergent and chattering-free.Firstly,the structure of robotic manipulator can be simplified as a 2-DOF linkage system,the mathematical model is built via lagrangian method. Secondly,a robust controller with the finite time convergence is designed and its stability is discussed by using Lyapunov method. Finially,feasibility and effectiveness of proposed control method are verified by using mathematical simulation tools. The theoretical analysis and simulation results demonstrate that the proposed method can force the angular rates and angular accelerations of two links of robotic manipulators which convergent to zero in finite time,respectively,and show the characters of disturbance resistance and chattering free.

关 键 词：机械臂控制 终端滑模控制理论 有限时间收敛性 鲁棒性 抖振抑制 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]