机械与电子2024，Vol.42Issue(7)：52-56,5.
电力巡检机械臂终端滑模鲁棒控制方法研究
Research on Sliding Mode Robust Control Method for Terminal of Electric Power Inspection Robot Arm
摘要
Abstract
The power inspection manipulator system usually has strong nonlinearity and uncertainty,including load change,friction,swing and other factors.These nonlinearities and uncertainties affect the stability of the control system,which makes it difficult for the traditional control design methods to achieve accurate control,and there are some errors.Therefore,a sliding mode robust control method for power in-spection robot arm is proposed.The power inspection robot arm is projected to the Cartesian coordinate system to obtain the position and pose information of the end actuator of the robot arm,which is used as the parameter of the sliding mode controller.The control law of the sliding mode controller of the robot arm is constructed by combining the fuzzy adaptive algorithm and the Lyapunov algorithm to obtain the control signal.The Radial Basis Function(RBF)network is used to approach the uncertain term,its control law is obtained,and the robust control results of the RBF network are output according to the robust term.Experiments show that the proposed method can realize accurate operation control of the power inspection robot arm while avoiding the manipulator jitter caused by unknown disturbance.The joint angle control er-ror is small,the response is fast,and the overshoot is low.关键词
滑模控制器/模糊自适应算法/Lyapunov算法/RBF网络/不确定项逼近Key words
synovial controller/fuzzy adaptive algorithm/Lyapunov algorithm/RBF network/approxi-mation of uncertain terms分类
信息技术与安全科学引用本文复制引用
韩晓翔,丁戈,杨晓亮,杨家龙,马辉欣..电力巡检机械臂终端滑模鲁棒控制方法研究[J].机械与电子,2024,42(7):52-56,5.基金项目
新疆电力有限公司科技项目(5230CD230001) （5230CD230001）
