机械科学与技术2025，Vol.44Issue(6)：986-993,8.DOI:10.13433/j.cnki.1003-8728.20230258
机械臂模糊降阶观测器反步法的非奇异性快速终端滑模控制
Non-singular Fast Terminal Sliding Mode Control of a Robotic Arm with Fuzzy Descending Observer Backstepping Method
摘要
Abstract
In order to gradually improve the accuracy and speed of trajectory tracking,a non-singularity fast terminal sliding mode controller wit In order to gradually improve the accuracy and speed of trajectory tracking,a non-singularity fast terminal sliding mode controller with fuzzy step-down observer backstepping method is proposed for constructing the dynamic model of the robotic arm.The controller adopts a new integral fast terminal sliding mode surface,decomposes the complex nonlinear system into subsystems not exceeding the order of the system with the backstepping method,and combines the fuzzy system to design a fuzzy reduced-order observer which is used to estimate and compensate the disturbance of the system for the moment of the perturbed observation,thus ensuring that the system has fast finite-time convergence and non-singularity superior performance.In order to ensure the stability of the system,the Lyapunov method is adopted in this paper to prove the stability of the system,and the fast and accurate tracking of the desired trajectory is shown according to the comparison of different methods.关键词
机械臂/滑模控制/观测器/期望轨迹/滑模面Key words
robotic arm/slide control/observer/desired trajectory/slide surface分类
信息技术与安全科学引用本文复制引用
杨晓辉,汤丑焱,邓福伟,胡誉尹,黄超..机械臂模糊降阶观测器反步法的非奇异性快速终端滑模控制[J].机械科学与技术,2025,44(6):986-993,8.基金项目
国家自然科学基金项目(61963026)与江西省研究生创新专项(YC2022-s022) （61963026）
