基于滑模变结构的多关节机械臂控制研究  

Study on Multi-Joint Manipulator Control Based on sliding Mode Variable Structure

作　　者：李照宇 高岩 白洁芳 闫涵 LI Zhaoyu;GAO Yan;Bai Jiefang;YAN Han(Henan Automation Engineering and Technology Research Center,Zhengzhou Henan 450008;Henan Medical InstrumentTesting Institute,Zhengzhou Henan 450018)

机构地区：[1]河南省自动化工程技术研究中心,河南郑州450008 [2]河南省医疗器械检验所,河南郑州450018

出　　处：《河南科技》2018年第35期73-74,共2页Henan Science and Technology

基　　金：省基本科研业务费项目(18JK02028)

摘　　要：机械臂控制是时变、强耦合的非线性系统,采用传统方法难以有效地进行控制。因此,针对机械臂末端轨迹控制的需要,设计了一款位速滑模控制器对机械臂关节节点进行控制,并利用李雅普诺夫函数证明了滑模控制器的稳定性。仿真实验结果证明了该控制方法的正确性。Manipulator control is a time-varying and strongly coupled nonlinear system,which is difficult to control effectively by traditional methods.Therefore,for the need of trajectory control at the end of the manipulator,a bit-speed sliding mode controller was designed to control the joint nodes of the manipulator.The stability of the sliding mode controller was proved by Lyapunov function.The simulation results proved the correctness of the control method.

关 键 词：变结构控制 位速滑模控制 时变非线性系统 多关节机械臂 

分 类 号：TH113[机械工程—机械设计及理论]