西安工程大学学报2025，Vol.39Issue(2)：10-18,9.DOI:10.13338/j.issn.1674-649x.2025.02.002
输入输出受限的机械臂自适应反步滑模控制
Adaptive backstepping sliding mode control of manipulator with limited input and output
摘要
Abstract
In order to solve the problem of low control precision and poor anti-interference ability due to the input and output limitation,the unknown external interference and the uncertainty of its own dynamic parameters,an adaptive backstepping sliding mode control method based on the time-varying tangent barrier Lyapunov function was proposed.Firstly,the issue of input constraint was addressed by designing a saturation compensation system to enhance the stability of the control system.Secondly,external un-known disturbances and uncertainties in the dynamic parameters were treated as composite disturbances,and a feedback adaptive law was designed to accurately estimate them.Simultaneously,a time-varying tangent-type barrier Lyapunov function was employed to confine the position error and velocity error within time-varying bounds.Finally,the closed-loop control system was proven to be bounded stable through Lyapunov theory analysis.The simulation results show that the proposed control method reduces the tracking error of joint 1 and joint 2 by 58%and 33%,respectively,compared with the control method based on the time-varying log-obstacle Lyapunov function.Compared with the method without input con-straint,the proposed control method improves the response speed of joint 1 and joint 2 by 69%and 50%.关键词
轨迹跟踪控制/输入输出约束/障碍李雅普诺夫函数/自适应控制Key words
trajectory tracking control/input-output constraints/barrier Lyapunov function/a-daptive control分类
信息技术与安全科学引用本文复制引用
张蕾,田荣,袁媛..输入输出受限的机械臂自适应反步滑模控制[J].西安工程大学学报,2025,39(2):10-18,9.基金项目
中国纺织工业联合会科技指导性项目(2018093) （2018093）
陕西省科技计划项目(2020TG-011) （2020TG-011）
榆林市科技计划项目(2023-CXY-184) （2023-CXY-184）
