测试科学与仪器2021，Vol.12Issue(2)：208-217,10.DOI:10.3969/j.issn.1674-8042.2021.02.010
基于分数阶微积分的机械臂迭代滑模控制策略研究
Iterative sliding mode control strategy of robotic arm based on fractional calculus
摘要
Abstract
In order to improve the control performance of industrial robotic arms,an efficient fractional-order iterative sliding mode control method is proposed by combining fractional calculus theory with iterative learning control and sliding mode control.In the design process of the controller,fractional approaching law and fractional sliding mode control theories are used to introduce fractional calculus into iterative sliding mode control,and Lyapunov theory is used to analyze the system stability. Then taking a two-joint robotic arm as an example,the proposed control strategy is verified by MATLAB simulation.The simulation experiments show that the fractional-order iterative sliding mode control strategy can effectively improve the tracking speed and tracking accuracy of the joint,reduce the tracking error,have strong robustness and effectively suppress the chattering phenomenon of sliding mode control.关键词
机械臂/分数阶微积分/迭代学习控制/滑模控制Key words
robotic arm/fractional calculus/iterative learning control/sliding mode control引用本文复制引用
张鑫,鲁文儒,缪仲翠,姜子运,张靓..基于分数阶微积分的机械臂迭代滑模控制策略研究[J].测试科学与仪器,2021,12(2):208-217,10.基金项目
National Natural Science Foundation of China(No.61663022) （No.61663022）
Department of Education Project of Gansu Province(No.18JR3RA105) （No.18JR3RA105）
