郑州大学学报（理学版）2019，Vol.51Issue(1)：78-83,6.DOI:10.13705/j.issn.1671-6841.2017239
基于非线性干扰观测器的机械臂终端滑模控制
Terminal Sliding Mode Control for Robotic Manipulator with Nonlinear Disturbance Observer
摘要
Abstract
In order to realize the effective control of five degree-of-freedom robotic manipulator in the presence of disturbances, the formulation of a terminal sliding mode controller based on nonlinear disturb-ance observer was proposed. Through selecting suitable nonlinear gain function, the disturbance observer could estimate the unknown disturbances accurately, so as to compensate for the controller and reduce the chattering of the sliding mode control. Convergence speed of the system was accelerated due to the design of a nonsingular fast terminal sliding manifold, which guaranteed that the trajectory tracking error con-verged in finite time. The stability of the closed-loop system was proved by Lyapunov method, and the ef-fectiveness of the proposed scheme was verified by numerical simulation results.关键词
机械臂/轨迹跟踪/终端滑模/干扰观测器Key words
robotic manipulator/trajectory tracking/terminal sliding mode/disturbance observer分类
信息技术与安全科学引用本文复制引用
杨鹏,王晓周,王婕,张高巍..基于非线性干扰观测器的机械臂终端滑模控制[J].郑州大学学报（理学版）,2019,51(1):78-83,6.基金项目
国家自然科学基金青年项目(61503118) （61503118）
河北省自然科学基金项目(F2015202231,F2015202150) （F2015202231,F2015202150）
天津市自然科学基金项目(17JCQNJC04400) （17JCQNJC04400）
河北省高等学校科学技术研究项目(QN2015068). （QN2015068）
