输入输出受限的机械臂自适应反步滑模控制  

Adaptive backstepping sliding mode control of manipulator with limited input and output

作　　者：张蕾[1,2] 田荣 袁媛 ZHANG Lei;TIAN Rong;YUAN Yuan(School of Electronics and Information,Xi’an Polytechnic University,Xi’an 710048,China;Xi’an Polytechnic University Branch of Artificial Intelligence Joint Laboratory,Xi’an 710048,China)

机构地区：[1]西安工程大学电子信息学院,陕西西安710048 [2]陕西省人工智能联合实验室西安工程大学分部,陕西西安710048

出　　处：《西安工程大学学报》2025年第2期10-18,共9页Journal of Xi’an Polytechnic University

基　　金：中国纺织工业联合会科技指导性项目(2018093);陕西省科技计划项目(2020TG-011);榆林市科技计划项目(2023-CXY-184)。

摘　　要：针对机械臂在运行过程中因输入输出受限、外界未知干扰以及自身动力学参数不确定性导致控制精度低和抗干扰能力差的问题,提出基于时变正切型障碍李雅普诺夫函数的自适应反步滑模控制方法(adaptive backstepping sliding mode control for time-varying tangent barrier Lyapunov,TTBLF-ABSMC)。首先,通过设计饱和补偿系统解决输入受限问题,提高控制系统的稳定性;其次,将外界未知干扰与自身动力学参数不确定性视为复合干扰,设计反馈自适应律对其做出准确估计;同时,采用时变正切型障碍李雅普诺夫函数将位置误差和速度误差限制在时变范围内;最后,通过李雅普诺夫理论分析证明闭环控制系统是有界稳定的。仿真实验结果表明:与采取时变对数型障碍李雅普诺夫函数的控制方法相比,该控制方法使机械臂关节1、2的跟踪误差分别降低了58%、33%;相比于未考虑输入受限方法,该控制方法在关节1、2的轨迹跟踪响应速度分别提升了69%、50%,有效的提高了系统的控制精度和抗干扰能力。In order to solve the problem of low control precision and poor anti-interference ability due to the input and output limitation,the unknown external interference and the uncertainty of its own dynamic parameters,an adaptive backstepping sliding mode control method based on the time-varying tangent barrier Lyapunov function was proposed.Firstly,the issue of input constraint was addressed by designing a saturation compensation system to enhance the stability of the control system.Secondly,external unknown disturbances and uncertainties in the dynamic parameters were treated as composite disturbances,and a feedback adaptive law was designed to accurately estimate them.Simultaneously,a time-varying tangent-type barrier Lyapunov function was employed to confine the position error and velocity error within time-varying bounds.Finally,the closed-loop control system was proven to be bounded stable through Lyapunov theory analysis.The simulation results show that the proposed control method reduces the tracking error of joint 1 and joint 2 by 58%and 33%,respectively,compared with the control method based on the time-varying log-obstacle Lyapunov function.Compared with the method without input constraint,the proposed control method improves the response speed of joint 1 and joint 2 by 69%and 50%.

关 键 词：轨迹跟踪控制 输入输出约束 障碍李雅普诺夫函数 自适应控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]