聊城大学学报（自然科学版）2024，Vol.37Issue(2)：9-18,10.DOI:10.19728/j.issn1672-6634.2023090009
单连杆柔性关节机械臂的高阶滑模控制器设计
High Order Sliding Mode Controller Design for Single-Link Flexible Joint Manipulator
摘要
Abstract
The paper introduces a finite-time stabilization control method for single-link flexible-joint ma-nipulator systems using a high-order sliding mode algorithm.The proposed approach addresses two key aspects.Firstly,a power integrator is incorporated to design a novel Lyapunov function,which ensures the convergence of the output signal within a finite time.Secondly,the chattering phenomenon caused by system uncertainty is mitigated using a sign function.By leveraging the finite-time Lyapunov stability the-ory,the paper proves that the algorithm guarantees the convergence of the sliding variable to the origin within a finite time.Finally,the effectiveness of the control algorithm is demonstrated through simulation results on a single-link flexible joint manipulator.关键词
高阶滑模控制/有限时间收敛/柔性关节机械臂Key words
high order sliding mode control/finite-time convergence/single-link flexible joint manipulator分类
数理科学引用本文复制引用
谢仕堉,孙伟..单连杆柔性关节机械臂的高阶滑模控制器设计[J].聊城大学学报（自然科学版）,2024,37(2):9-18,10.基金项目
国家自然科学基金项目(62173174)资助 （62173174）
