未知干扰下机械臂的非奇异快速终端滑模控制  

Non-singular Fast Terminal Sliding Mode Control of Manipulator Under Undetermined Disturbance

作　　者：崔云飞 刘放[1] 李晨晖 许沛森 黄文建 CUI Yunfei;LIU Fang;LI Chenhui;XU Peisen;HUANG Wenjian(School of Mechanical Engineering,Southwest Jiaotong University,Chengdu 610031,China)

机构地区：[1]西南交通大学机械工程学院,成都610031

出　　处：《机械科学与技术》2025年第2期298-304,共7页Mechanical Science and Technology for Aerospace Engineering

摘　　要：针对机械臂在工作时受到的未知干扰较大,非线性系统动力学建模不精确的问题,设计了一种考虑干扰观测器补偿的非奇异快速终端滑模NFTSMC (Non-singular fast terminal sliding mode)算法;将未知干扰引入由拉格朗日动力学推导的机械臂动力学方程中;设计了非线性扰动观测器NDO(Nonlinear disturbance observer)以观测干扰并在控制输入中补偿,并证明了观测器的收敛性;设计了非奇异快速终端滑模面并推导出控制输入,随后用李雅普诺夫稳定性判据证明了系统的收敛性;搭建了二自由度机械臂模型并仿真,验证了本文所设计的控制策略的有效性和优越性。In order to solve the problem that the manipulator is subject to relatively large unknown disturbances during working and the dynamic modeling of such nonlinear system is inaccurate,anon-singular fast terminal sliding mode control(NFTSMC)algorithm with disturbance observer compensation is designed in this paper.Firstly,the undetermined disturbance terms are introduced into dynamic equation of the manipulatordeduced by Lagrange dynamic theory.Then,thenonlinear disturbance observer(NDO)is constructed to observe disturbance and compensate it in control input with convergence of NDO being proved.After that,the non-singular fast terminal sliding surface is designed with deduction of control input.Subsequently,convergence of the system is proved by Lyapunov stability criterion.Finally,the two-DOF manipulator model is established and a NFTSMCsimulation is conducted,which verified effectiveness and superiority of control strategy designed in this paper.

关 键 词：非奇异快速终端滑模控制 机械臂 非线性系统 干扰观测器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]