基于干扰观测器的欠驱动手指滑模控制  

Underactuated finger sliding mode control based on disturbance observer

作　　者：徐玉龙 王学林 张磊[1] 王鹏[1] 陈昊 赵立德 肖千 XU Yulong;WANG Xuelin;ZHANG Lei;WANG Peng;CHEN Hao;ZHAO Lide;XIAO Qian(Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology,Institute of Automation,Qilu University of Technology(Shandong Academy of Sciences),Jinan 250014,China)

机构地区：[1]齐鲁工业大学(山东省科学院)山东省科学院自动化研究所,山东省机器人与制造自动化技术重点实验室,山东济南250014

出　　处：《齐鲁工业大学学报》2023年第2期1-7,共7页Journal of Qilu University of Technology

基　　金：国家重点研发计划(2021YFE0103300);山东省重点研发计划(2019GGX104016);山东省重点研发计划(国际科技合作)(2019GHZ006)。

摘　　要：为提高欠驱动多指手抓取过程中末端轨迹控制精度,将欠驱动单手指二连杆模型简化为单连杆手指模型,建立了欠驱动手指的动力学模型,设计了基于干扰观测器的滑模控制器,采用饱和函数趋近律削弱滑模的抖振现象,干扰观测器的对外界干扰的估计值反馈给滑模控制器用以修正控制量利用Lyapunov稳定性理论证明了闭环系统的稳定性。仿真结果表明:在存在外界情况下,该控制器可以自动评估干扰大小,相较于传统滑模控制器,明显削弱了抖振现象,能够精准的跟踪目标轨迹,具有更强的稳定性和鲁棒性。该控制器可提高欠驱动手指控制精度,在机器人产业中具有一定的应用前景。In order to improve the end trajectory control accuracy in the underactuated multi-finger gripping process,the underactuated single-finger two-link model is simplified to a single-link finger model.The underactuated finger dynamics model is established,the interference observer-based sliding mode controller is designed,the saturation function convergence law is used to weaken the chattering phenomenon of the sliding mode,and the estimated value of the interference observer for external interference is fed back to the sliding mode controller to correct the control quantity using Lyapunov stability theory is used to demonstrate the stability of the closed-loop system.The simulation results show that the controller can automatically evaluate the disturbance magnitude in the presence of external conditions,significantly weaken the chattering phenomenon compared with the traditional sliding mode controller,and can accurately track the target trajectory with greater stability and robustness.The controller can improve the underactuated finger control accuracy and has certain application prospects in the robot industry.

关 键 词：滑模控制 干扰观测器 轨迹跟踪 欠驱动 多指手 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]