智能系统学报2017，Vol.12Issue(2)：266-271,6.DOI:10.11992/tis.201605024
PSO优化的六自由度机械臂全局快速终端滑模控制
A PSO-based global fast terminal sliding mode controllerfor 6-DOF manipulators
摘要
Abstract
In this paper, we propose a global fast terminal sliding mode (GFTSM) control method based on particle swarm optimization (PSO) for the 6-DOF (degrees of freedom) manipulator control system to reduce chattering and improve response times of the system.We divided the multi-input multi-output (MIMO) 6-DOF system into six second-order subsystems, each joint designed and analyzed to overcome the singularity of control law.Further, we demonstrated the stability of our system using Lyapunov theory and optimized the control parameters based on the PSO algorithm.Our simulation results show that the optimized control method not only improves the speed and response times of the system, but also reduces the chattering, thus producing a system with good dynamics and static performance.关键词
自动控制技术/六自由度机械臂/李雅普诺夫理论/PSO算法/全局快速终端滑模/控制律/抖振Key words
automatic control technology/6-DOF manipulator/Lyapunov theory/PSO algorithm/global fast terminal sliding mode/control law/chattering分类
信息技术与安全科学引用本文复制引用
王琥,胡立坤,谭颖..PSO优化的六自由度机械臂全局快速终端滑模控制[J].智能系统学报,2017,12(2):266-271,6.基金项目
广西自然科学基金项目(2012GXNSFBA053144). （2012GXNSFBA053144）
