机械臂自适应反演超螺旋全局终端滑模控制  

Adaptive Backstepping Super-Twisting Global Terminal Sliding Mode Control for Manipulators

作　　者：李俊麟 王宏博[1,2,3] 张伟 高升[1,2] LI Junlin;WANG Hongbo;ZHANG Wei;GAO Sheng(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China;College of Information Engineering,Shenyang University of Chemical Technology,Shenyang 110142,China)

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016 [2]中国科学院机器人与智能制造创新研究院,辽宁沈阳110169 [3]沈阳化工大学信息工程学院,辽宁沈阳110142

出　　处：《测控技术》2023年第10期74-81,共8页Measurement & Control Technology

基　　金：中国科学院空间科学战略性先导科技专项(XDA1502030505);机器人学国家重点实验室自主课题(2019-Z06);辽宁省“兴辽英才计划”资助项目(XLYC1807167)。

摘　　要：针对机械臂系统存在的系统参数摄动、非线性摩擦及外部干扰等不确定问题,提出一种自适应反演超螺旋全局终端滑模轨迹跟踪控制方法。该方法基于反演法、Lyapunov理论和全局快速终端滑模理论设计控制器,保证系统稳定性及全局收敛性,增强系统的鲁棒性。为解决系统集总扰动上界未知的问题,采用自适应技术设计切换控制律,抵消不确定性的影响,同时引入超螺旋算法抑制滑模控制固有的抖振现象。最后,通过理论分析和仿真算例验证了该控制器的有效性与可行性。Aiming at the uncertain problems of system parameter perturbation,nonlinear friction and external interference in the manipulator system,an adaptive inversion super-twisting global terminal sliding mode trajec-tory tracking control method is proposed.This method is based on the inversion method,Lyapunov theory and global fast terminal sliding mode theory to design the controller to ensure the system stability and global conver-gence,and enhance the robustness of the system.In order to solve the problem that the upper bound of the lumped disturbance of the system is unknown,the adaptive technology is designed to switch the control law to offset the influence of uncertainty,and at the same time,the super-twisting algorithm is introduced to suppress the inherent chattering phenomenon of sliding mode control.Finally,the effectiveness and feasibility of the con-troller are verified by theoretical analysis and simulation examples.

关 键 词：机械臂系统 轨迹跟踪 反演全局终端滑模控制 自适应技术 超螺旋算法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]