机械与电子Issue(10)：61-66,6.
积分滑模控制及抖振抑制研究用于仿人机器人头部控制
Research of Integral Sliding Mode Control and Chattering Reduction on a Humanoid Robot's Head
杨扬 1孙奎 1刘宏 1曹宝石1
作者信息
- 1. 哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江 哈尔滨 150001
- 折叠
摘要
Abstract
This paper introduces the mechanical and electric structure of the 3 - DOF head of HIT humanoid robot. Integral sliding mode control is used for the tracking control of the head. This algorithm can make the pole placed arbitrarily in order to reject the effects caused by modeling uncertainties and external disturbances. Robustness of the system can be guaranteed throughout an entire response of the system which begins from the initial time instance. In addition, this paper proposes a simple method called proportional switching function to alleviate chattering of integral sliding mode control. Compared with the conventional PID fric-tion compensation and sliding mode control approaches that based on computed torque, the control method is proved by experimental results that it can get higher tracking accuracy, minor chattering and strong robustness.关键词
仿人机器人头部/积分滑模控制/抖振抑制/目标跟踪Key words
humanoid robot' s head/ integral sliding mode control/ chattering reduction/ object tracking分类
信息技术与安全科学引用本文复制引用
杨扬,孙奎,刘宏,曹宝石..积分滑模控制及抖振抑制研究用于仿人机器人头部控制[J].机械与电子,2011,(10):61-66,6.
