华南农业大学学报2025，Vol.46Issue(2)：238-245,8.DOI:10.7671/j.issn.1001-411X.202406029
基于双曲正切函数的采摘机械臂滑模跟踪控制
Sliding mode tracking control of picking manipulator based on hyperbolic tangent function
摘要
Abstract
[Objective]To solve the problem of end trajectory tracking control in the application of mechanical arms in the agricultural field,and ensure the high-precision trajectory tracking and stable operation of the agricultural picking robot picking end.[Method]It was suggested to use a hyperbolic tangent function-based sliding mode tracking control approach for a picking robot arm.A model of the manipulator dynamics based on the workspace was built using inverse kinematics,and a sliding mode tracking controller for the hyperbolic tangent function was created.The asymptotic stability of the control system was guaranteed by the Lyapunov function.The simulation control system of the manipulator was built in the MATLAB/Simulink environment to verify the control algorithm,and the tracking effect of the sliding mode controller on the end trajectory of the manipulator was analyzed.[Result]The simulation test results showed that the sliding mode controller based on the hyperbolic tangent function achieved high-precision trajectory tracking and stable control,improved the convergence speed of the terminal trajectory tracking,reduced the robot end trajectory tracking control error,and reduced the convergence time of the terminal trajectory tracking curve by 50%,effectively improved the real-time performance and tracked accuracy of the robot picking system compared with the switching function sliding mode controller.[Conclusion]The research can provide an effective control method for the practical application of robotic arm picking.关键词
采摘机械臂/工作空间/滑模控制/双曲正切函数/轨迹跟踪Key words
Picking manipulator/Workspace/Sliding mode control/Hyperbolic tangent function/Trajectory tracking分类
农业科技引用本文复制引用
李杰浩,刘宏鲜,罗群斐,卢家欢..基于双曲正切函数的采摘机械臂滑模跟踪控制[J].华南农业大学学报,2025,46(2):238-245,8.基金项目
广州市科技计划项目(2024A04J4140) （2024A04J4140）
机器人技术与系统全国重点实验室开放基金(SKLRS-2024-KF-08) （SKLRS-2024-KF-08）
国家自然科学基金(62203176) （62203176）
