基于自适应降阶滑模算法的受约束多机械臂力/位混合控制  

Force/Position Hybrid Control of Constrained Multi-manipulator Based on Adaptive Reduced Order Sliding Mode Algorithm

作　　者：朱志浩 李蔚 高直 郭毓[3] ZHU Zhihao;LI Wei;GAO Zhi;GUO Yu(School of Electrical Engineering,Yancheng Institute of Technology,Yancheng Jiangsu 224051,China;School of Information Engineering,Yancheng Institute of Technology,Yancheng Jiangsu 224051,China;School of Automation,Nanjing University of Science and Technology,Nanjing Jiangsu 210094,China)

机构地区：[1]盐城工学院电气工程学院,江苏盐城224051 [2]盐城工学院信息工程学院,江苏盐城224051 [3]南京理工大学自动化学院,江苏南京210094

出　　处：《机床与液压》2023年第17期51-56,共6页Machine Tool & Hydraulics

基　　金：国家自然科学基金(61973167);盐城工学院校级科研项目(xjr2020041);教育部产学合作协同育人项目(22097110113736)。

摘　　要：针对多机械臂系统末端受环境约束而产生的力/位混合控制问题,提出一种基于自适应降阶滑模算法的受约束多机械臂力/位混合控制方法。通过运用多个坐标系建立受约束多机械臂系统动力学模型,并将位置控制、约束力控制以及内力控制引入同一控制器中。将自适应滑模算法与降阶方法相结合,对动力学模型中的未知扰动进行了补偿。基于李雅普诺夫方法,证明系统的稳定性。经仿真验证,该方法不仅提高了控制器的控制精度和系统的响应速度,同时还能保证约束力误差及内力误差均稳定在极小的范围内。Aiming at the problem of force/position hybrid control caused by environmental constraints at the end of multi-manipulator system,a force/position hybrid control method for constrained multi-manipulator based on adaptive reduced order sliding mode algorithm was proposed.The dynamic model of constrained multi-manipulator system was established by using multiple coordinate systems,and the position control,constraint control and internal force control were introduced into the same controller.The adaptive sliding mode algorithm was combined with the order reduction method to compensate the unknown disturbance in the dynamic model.Based on Lyapunov method,the stability of the system was proved.The simulation results show that this method not only improves the control accuracy of the controller and the response speed of the system,but also ensures that the binding error and internal force error are stable in a very small range.

关 键 词：多机械臂 自适应滑模 降阶方法 力/位混合控制 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]