中南大学学报（自然科学版）2017，Vol.48Issue(12)：3248-3255,8.DOI:10.11817/j.issn.1672-7207.2017.12.015
3-DOF空间机械臂新型滑模轨迹跟踪控制
A novel sliding mode controller for trajectory tracking of 3 DOF spatial robot manipulators
摘要
Abstract
In order to realize the high-precision trajectory tracking, a novel sliding mode controller was presented based on extended state observer (ESO). The controller with sliding mode surface was based on PD. The unknown external disturbance, parameter uncertainty, un-modeling and the coupling were observed and compensated by means of ESO. The chattering problem was attenuated significantly by introducing the function of sal. The effectiveness of the proposed control law was verified by the theoretical analysis of the system stability. The results show that this control algorithm not only realizes the high-precision trajectory tracking as shown in the simulation, but also improves the system robustness in comparison to the PID control and PD with sliding mode control.关键词
机械臂/扩展状态观测器/轨迹跟踪/耦合/滑模控制Key words
robot manipulator/extended state observer/trajectory tracking/coupling/sliding mode control分类
信息技术与安全科学引用本文复制引用
万凯歌,吴爱国,董娜,方星..3-DOF空间机械臂新型滑模轨迹跟踪控制[J].中南大学学报（自然科学版）,2017,48(12):3248-3255,8.基金项目
国家自然科学基金资助项目(61403274) （61403274）
天津市应用基础及前沿技术研究计划项目(13JCQNJC03600)(Projects(61403274) supported by the National Natural Science Foundation of China （13JCQNJC03600）
Project(13JCQNJC03600) supported by the Application Base and Frontier Technology Research Plan of Tianjin of China) （13JCQNJC03600）
