基于多目标扰动观测器的不确定机器人滑模自适应轨迹跟踪控制  

Adaptive Sliding Tracking Control for Uncertain Robotic Systems Based on Multi-object Disturbance Observer

作　　者：刘树博[1,2] 刘国权 周焕银[1,2] 罗先喜[1,2] 杨波[1] 江思懿[1] LIU Shu-bo;LIU Guo-quan;ZHOU Huan-yin;LUO Xian-xi;YANG Bo;JIANG Si-yi(Jiangxi Province Engineering Research Center of New Energy Technology and Equipment, East China University of Technology, Nanchang 330013, China;School of Mechanical and Electronic Engineering, East China University of Technology, Nanchang 330013, China)

机构地区：[1]东华理工大学江西省新能源工艺及装备工程技术研究中心,南昌330013 [2]东华理工大学机械与电子工程学院,南昌330013

出　　处：《组合机床与自动化加工技术》2019年第10期93-96,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金(51409047,61463003);江西省教育厅科技计划项目(GJJ170484);江西省新能源工艺及装备工程技术中心开放基金项目(JXNE2016-13)

摘　　要：以不确定机器人为研究对象,基于多目标扰动观测器提出一种滑模自适应控制策略。首先,根据所提出的复合滑模面,设计包含扰动估计的非抖振滑模跟踪控制策略;其次,依据H ∞和极点配置理论,设计多目标扰动观测器,来实现对扰动的估计;最后,基于李雅普诺夫方法给出了自适应律,并对系统稳定性进行了证明。仿真结果表明,该算法能够实现机器人对给定信号的有效跟踪,不依赖系统先验信息,因此具有较高的实用性和有效性。Taking uncertain robot as research object, an adaptive sliding tracking control based on multi-object disturbance observer is proposed. First, a chatter-free sliding tracking control containing disturbance estimate is designed according to composite sliding surface. Second, based on H ∞ and regional pole assignment theories, multi-object disturbance observer is designed to obtain the disturbance estimate. Finally, adaptive control law is presented by Lyapunov method, and the system stability is proved. Simulation results demonstrate that the proposed strategy can successfully make the robot track the given signal, and avoid the dependence on system prior information, showing the high practicability and effectiveness.

关 键 词：机器人 不确定性 滑模自适应控制 扰动观测器 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]