计算机与现代化Issue(12)：14-18,5.DOI:10.3969/j.issn.1006-2475.2023.12.003
基于改进变结构趋近律的机械臂滑模控制系统
Sliding Mode Control System of Manipulator Based on Improved Variable Structure Reaching Law
摘要
Abstract
Aiming at the problems of slow convergence speed and system chattering in the application field of sliding mode con-trol in the manipulator,an improved variable structure reaching law is designed to improve the dynamic characteristics of the ma-nipulator.The convergence speed and chattering suppression of the system are optimized by using the grouping characteristics and the inverse hyperbolic sine function.The mathematical model of the two degree of freedom manipulator is established by us-ing the second Lagrange equation,and the RBF neural network is used to approximate the system model for the friction and other unmeasurable interference problems in the system.The stability of the system tracking is proved by Lyapunov function method.Finally,the feasibility and stability of the improved variable structure reaching law algorithm are verified by the experimental comparison with PID,constant rate reaching law and fast power reaching law in Simulink.关键词
机械臂/滑模控制/改进变结构趋近律/RBF神经网络/抖振Key words
manipulator/sliding mode control/improved variable structure approach law/RBF neural network/chattering分类
信息技术与安全科学引用本文复制引用
宋涛涛,李艳萍,李洪港,韩春雪..基于改进变结构趋近律的机械臂滑模控制系统[J].计算机与现代化,2023,(12):14-18,5.基金项目
国家自然科学基金资助项目(62133008) （62133008）
