西安科技大学学报2011，Vol.31Issue(5)：621-625,630,6.
仿人机器人的非奇异终端滑模控制
Nonsingular terminal sliding mode control for humanoid robots
柴钰 1朱道宏1
作者信息
- 1. 西安科技大学电气与控制工程学院,陕西西安710054
- 折叠
摘要
Abstract
Currently, the humanoid robots instead of human beings performs a significant function in the fields of industry, mine safety etc. To decrease security risks caused by the robots running away owing to the misoperations, the stability control technologies for robots should be further improved. So this paper proposes a global finite-time tracking controller based on the nonsingular terminal sliding mode control, which could solve trajectory tracking control problems of humanoid robot system under uncertain disturbance. Firstly, the dynamic model of humanoid robot with 5connecting rods was built through La-grangian method, and then the sliding model controller for trajectory tracking was designed based on nonsingular terminal sliding mode. Secondly, the sign function was replaced by the modified saturation function in the controller for eliminating the chattering problem caused by non-continuity. Finally, the simulation results verified the effectiveness of this method.关键词
仿人机器人/滑模控制/抖振/饱和函数Key words
humanoid robots/ sliding mode control/ chattering/ saturation function分类
信息技术与安全科学引用本文复制引用
柴钰,朱道宏..仿人机器人的非奇异终端滑模控制[J].西安科技大学学报,2011,31(5):621-625,630,6.
