重庆工商大学学报：自然科学版2011，Vol.28Issue(5)：514-519,6.
基于终端滑模的多关节机器人跟踪控制
Tracking Control of Multi-linked Robots Based on Terminal Sliding Mode
朱道宏 1柴钰1
作者信息
- 1. 西安科技大学电气与控制工程学院,西安710054
- 折叠
摘要
Abstract
For the trajectory tracking control problem of multi-linked robots with uncertain disturbances,a global finite-time tracking controller is proposed based on terminal sliding mode control method.Firstly,according to the features of dynamic model of multi-linked robots,the trajectory tracking sliding mode controller is designed based on nonsingular terminal sliding mode control technology and sliding mode design theory.Under the action of the designed controller,the tracking error not only reaches the terminal sliding mode surface from any initial states but also converges to the origin along the sliding mode surface in finite time.Secondly,due to the non-linear continuity of the controller,the chattering phenomenon occurs.To this phenomenon,a modified saturation function is utilized to substitute the sign function in the designed controller,and thus the chattering can be eliminated.Finally,simulation results verify the effectiveness of this method.关键词
多关节机器人/终端滑模控制/抖振Key words
multi-linked robots/terminal sliding mode control/chattering分类
信息技术与安全科学引用本文复制引用
朱道宏,柴钰..基于终端滑模的多关节机器人跟踪控制[J].重庆工商大学学报：自然科学版,2011,28(5):514-519,6.
