基于快速非奇异终端滑模的机械臂轨迹跟踪方法  

Trajectory tracking of robotic manipulators based on fast nonsingular terminal sliding mode

作　　者：王伟[1,2] 赵健廷[1,2] 胡宽荣 郭永仓 WANG Wei;ZHAO Jian-ting;HU Kuan-rong;GUO Yong-cang(School of A erospace Engineering,Beijing Institute of Technology,Beijing 100081,China;Beijing Key Laboratory of UAV Autonomous Control Technology,Beijing Institute of Technology y Beijing 100081,China;Research and Design Institute,Northwest Industrial Group,Xi'an 710299,China;Quality Department,Northwest Industrial Group,Xi'an 710299.China)

机构地区：[1]北京理工大学宇航学院,北京100081 [2]北京理工大学无人机自主控制技术北京市重点实验室,北京100081 [3]西北工业集团科研设计所,西安710299 [4]西北工业集团质量部,西安710299

出　　处：《吉林大学学报（工学版）》2020年第2期464-471,共8页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家自然科学基金项目(61172182).

摘　　要：为使机械臂按预定轨迹运行,设计了一种基于快速非奇异终端滑模的新型现代控制方法。该方法结合了传统的快速终端滑模和非奇异终端滑模,具有快速性、非奇异性、有限时间收敛性和强鲁棒性,并可有效抑制滑模控制器固有的抖振现象。首先,将机械臂简化为二自由度刚性连杆系统并建立数学模型;其次,设计鲁棒控制器;然后,构造李雅普诺夫函数验证其稳定性;最后,详细的对比仿真表明了本文方法的有效性。To drive the robotic manipulator tracking the desired trajectory,a novel modern control method based on the nonsingular terminal sliding mode is designed in this paper. Combining the traditional fast terminal sliding mode and the nonsingular terminal sliding mode,the proposed control method possesses the characteristics of rapidity, nonsingularity, finite-time convergence and strong robustness. The chattering from sliding mode controller can also be suppressed effectively. Here,the mathematical model of robotic manipulator structure which can be simplified as a 2-DOF rigid linkage system is built,firstly.Next,a robust controller is designed. Then,the Lyapunov function is constructed to verify its stability.Finally,detailed simulations with some comparisons demonstrate the effectiveness of the proposed method.

关 键 词：自动控制技术 机械臂控制 终端滑模控制理论 非奇异性 有限时间收敛性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]