输入饱和约束下的机械臂轨迹跟踪滑模控制  

Sliding mode control for robotic arm trajectory tracking under input saturation constraints

作　　者：杨静轩 何杰 江保平 YANG Jingxuan;HE Jie;JIANG Baoping(School of Electronic and Information Engineering,Suzhou University of Science and Technology,Suzhou 215009,China)

机构地区：[1]苏州科技大学电子与信息工程学院,江苏苏州215009

出　　处：《现代电子技术》2025年第8期149-154,共6页Modern Electronics Technique

基　　金：国家自然科学基金青年基金项目(62003231)。

摘　　要：针对机械臂轨迹跟踪控制精度差的问题,提出一种应对输入饱和、反步滑模控制和自适应控制的设计方案。为消除输入饱和对机械臂跟踪效果的影响,设计一个饱和补偿的非线性辅助系统。此外,将自适应反步滑模控制方法应用于轨迹跟踪控制,提高了系统的稳定性和跟踪性能。利用李雅普诺夫稳定性理论证明该系统的稳定性,并通过仿真实验验证该方案的有效性。结果表明,所设计方案在应对输入饱和及复合干扰时,能够实现机械臂的高精度轨迹跟踪控制。A design scheme to cope with input saturation,backstepping sliding mode control and adaptive control is proposed to improve the control accuracy of the robotic arm trajectory tracking.In order to eliminate the influence of input saturation on the tracking effect of the robotic arm,a saturation-compensated nonlinear auxiliary system is designed.In addition,the stability and tracking performance of the system are improved by applying the adaptive backstepping sliding mode control method to the trajectory tracking control.The stability of the system is proved by means of the Lyapunov stability theory,and the effectiveness of the scheme is verified by the simulation experiments.The results show that the designed scheme is capable of realizing high-precision trajectory tracking control of the robotic arm in response to the input saturation and compound disturbances.

关 键 词：机械臂 轨迹跟踪 输入饱和约束 反步滑模控制 自适应控制 非线性系统 

分 类 号：TN92-34[电子电信—通信与信息系统] TP242.2[电子电信—信息与通信工程]