二连杆机械臂的重复性滑模控制  

作　　者：赵逸吉 

机构地区：[1]延锋安道拓座椅有限公司,上海201315

出　　处：《科技创新与应用》2021年第20期8-11,15,共5页Technology Innovation and Application

摘　　要：比例积分微分(PID)控制是现实中最广泛应用的控制算法之一。然而,PID控制在非线性系统面前常不能取得很好的表现。文章的目的在于,使一个二连杆机器人在周期性期望路径下达到较高的跟踪精度。文章基于滑模控制,提议了一种重复控制律。实验结果显示,几个稳定周期内误差绝对值平均低于0.01rad。因为提议的控制律不要求具体的系统参数,所以此类研究在现实中是重要且实用的。Proportional integral differential(PID)control is one of the most widely used control algorithms in reality.However,PID control often does not perform well in front of nonlinear systems.The purpose of this paper is to make a twolink robot achieve higher tracking accuracy under the periodic expected path.Based on sliding mode control,a repetitive control law is proposed in this paper.The experimental results show that the average absolute error is less than 0.01 rad in several stable periods.Because the proposed control law does not require specific system parameters,this kind of research is important and practical in reality.

关 键 词：重复控制 自适应 滑模控制 机械臂 非线性系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]