基于双滑模观测器的参数不确定系统抗扰与跟踪控制  

Dual sliding mode observers for disturbance rejection and tracking control of systems with parameter uncertainties

作　　者：孙传斌 王树波 SUN Chuan-bin;WANG Shu-bo(School of Automation,Qingdao University,Qingdao 266071,China;Shandong Key Laboratory of Industrial Control Technology,Qingdao 266071,China)

机构地区：[1]青岛大学自动化学院,山东青岛266071 [2]山东省工业控制技术重点实验室,山东青岛266071

出　　处：《控制与决策》2024年第12期3973-3980,共8页Control and Decision

基　　金：国家自然科学基金项目(62173194);山东省优秀青年基金项目(ZR2021YQ41)。

摘　　要：针对机器人系统中含有的不确定参数和未知干扰等问题,提出一种基于双滑模观测器和非奇异快速终端滑模控制的复合控制策略.首先,为了估计补偿模型中的不确定参数和外部干扰带来的未知动态,基于机器人系统欧拉-拉格朗日模型构建滑模观测器,以优化机器人系统轨迹跟踪控制性能;然后,针对滑模观测器中存在残差造成的抖振问题,设计辅助滑模观测器,通过将观测误差反馈补偿,抑制观测器在观测扰动时的抖振现象,进一步提高观测精度;接着,为了实现系统抗扰和轨迹跟踪问题,提出有限时间滑模控制器,通过调节滑模控制中的切换增益,可有效地缩短收敛时间,并提高系统的鲁棒性;最后,通过李雅普诺夫稳定性理论证明闭环系统的稳定性,并通过Simulink仿真验证所提出方法的有效性.To solve the problems of uncertain parameters and unknown disturbances in robotic systems,a composite control strategy based on dual sliding mode observers and non-singular fast terminal sliding mode control is proposed in this paper.First,to estimate and compensate the unknown dynamics caused by uncertain parameters and external disturbances in the model,a sliding mode observer is constructed based on the Euler-Lagrange model to optimize the trajectory tracking control performance of the robotic systems.Meanwhile,an auxiliary sliding mode observer is designed to solve the chattering problem in the observer.By compensating the observation error,the chattering phenomenon of the observer is suppressed and the observation accuracy is further improved.Then,to realize system immunity and trajectory tracking,a finite-time sliding mode controller is proposed.By adjusting the switching gain in sliding mode control,the convergence time can be shortened effectively and the robustness of the system can be improved.Finally,the stability of the closed-loop system is proved by the Lyapunov stability theory,and the effectiveness of the proposed method is verified by simulation results.

关 键 词：机器人系统 机器人控制 滑模观测器 不确定参数 非奇异快速终端滑模控制 有限时间稳定 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]