多关节机械臂自适应非奇异快速终端滑模控制  

N-link Robotic Manipulators Adaptive Non-singular Fast Terminal Sliding Mode Control

作　　者：朱梦念 王亚刚[1] ZHU Mengnian;WANG Yagang(School of Optical-Electrical and Computer Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)

机构地区：[1]上海理工大学光电信息与计算机工程学院,上海200093

出　　处：《控制工程》2025年第3期571-576,共6页Control Engineering of China

基　　金：国家重点研发计划课题资助项目(2020YFC2007502)。

摘　　要：针对二阶非线性多关节机械臂系统模型存在的不确定性和未知干扰问题,以及终端滑模控制中容易出现的奇异问题,首先,提出改进的非奇异快速终端滑模面,并进行了有限时间收敛的证明。然后,针对实际系统中不确定项边界无法轻易获取的问题,在改进滑模面中加入自适应算法估计不确定性项的边界。最后,通过仿真验证了自适应非奇异快速终端滑模控制器能够使系统稳定地收敛到平衡点,并经过对比验证了所提控制器的轨迹跟踪能力明显优于其他控制器。For the problems of uncertainty and unknown disturbances in the second-order nonlinear multi-joint robotic arm system model,as well as the singularity problem that is likely to occur in the terminal sliding mode control,firstly,an improved non-singular fast terminal sliding mode surface is proposed and the proof of finite-time convergence is carried out.Then,in view of the problem that the boundaries of uncertain terms in the actual system cannot be easily obtained,an adaptive algorithm is added to the improved sliding mode surface to estimate the boundaries of uncertain terms.Finally,the simulation verifies that the adaptive non-singular fast terminal sliding mode controller can make the system stably converge to the equilibrium point,and through comparison,it is verified that the trajectory tracking ability of the control algorithm is significantly better than that of other controllers.

关 键 词：非奇异快速终端滑模控制 自适应估计 非线性系统 系统不确定项边界 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]