立方体机器人自适应滑模容错控制系统设计  

Design of Adaptive Sliding Mode Fault Tolerant Control System for Cube Robot

作　　者：杨继荣 黄卫华[1] 付亮亮 胡阳城 陈师聪 YANG Ji-rong;HUANG Wei-hua;FU Liang-liang;HU Yang-cheng;CHEN Shi-cong(School of Information Science and Engineering,Wuhan University of Science and Technology,Wuhan 430081,China)

机构地区：[1]武汉科技大学信息科学与工程学院,武汉430081

出　　处：《组合机床与自动化加工技术》2023年第4期100-103,107,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金(61773298)。

摘　　要：立方体机器人具有多变量、欠驱动和非线性等复杂特点,针对其难以建立精确模型以及故障情况下系统稳定性的问题,设计并实现了一种基于自适应滑模容错策略的立方体机器人控制系统。首先,建立了所搭建的立方体机器人的动力学模型和故障模型;其次,利用滑模控制在滑动阶段对系统参数摄动的不变性和自适应律对系统广义误差的补偿,实现了系统的容错功能;同时,为了有效的抑制滑模控制中固有的抖振问题,提出了一种基于指数趋近律和幂次趋近律的组合趋近律;基于方法证明了所设计自适应滑模容错控制系统的大范围渐近稳定性。仿真和实测实验结果验证了所设计容错策略在立方体机器人的姿态控制中,具有较强的容错能力及较高的控制精度。The cube robot has complex characteristics such as multivariable,underdriven and nonlinear,and a cube robot control system based on an adaptive sliding mode fault tolerance strategy is designed and implemented to address the problems of its difficulty in establishing an accurate model and system stability under fault conditions.First,the dynamics model and fault model of the built cube robot are established.Then,the fault tolerance function of the system is realized by using the invariance of the sliding mode control on the system parameter uptake in the sliding phase and the compensation of the generalized error of the system by the adaptive law.At the same time,a combined convergence law based on exponential convergence law and power convergence law is proposed to effectively suppress the jitter problem inherent in the sliding mode control;the large-range asymptotic stability of the designed adaptive sliding mode fault-tolerant control system is demonstrated based on the Lyapunov method.Finally,the simulation and experimental results verify that the designed fault-tolerant strategy has strong fault tolerance and high control accuracy in the attitude control of the cuboidal robot.

关 键 词：立方体机器人 容错策略 滑模控制 自适应控制 

分 类 号：TH166[机械工程—机械制造及自动化] TG506[金属学及工艺—金属切削加工及机床]