机械科学与技术2025，Vol.44Issue(9)：1514-1521,8.DOI:10.13433/j.cnki.1003-8728.20230333
机械臂自适应超螺旋积分终端滑模控制
Adaptive Super-twisting Integral Terminal Sliding Mode Control of Manipulators
摘要
Abstract
A new adaptive super-twisting integral terminal sliding mode control strategy is proposed for uncertain n-degree of freedom rigid manipulator dynamics to realize trajectory tracking control.Firstly,a new integral terminal sliding mode surface design is presented,and based on the proposed improved variable exponential reaching law scheme,an adaptive sliding mode variable structure controller is designed to suppress the unknown uncertainties and external disturbance of the system effectively,further ensuring the system to reach the sliding mode surface quickly and reducing the system chattering.Secondly,the convergence of the manipulator error system is analyzed by constructing an appropriate Lyapunov function.Finally,the effectiveness of the proposed control method is verified by simulation experiments with a two-degree of freedom manipulator plant model.关键词
机械臂/积分终端滑模/自适应律/超螺旋算法Key words
manipulator/integral terminal sliding mode/adaptive law/super-twisting分类
信息技术与安全科学引用本文复制引用
张岳,刘振,江保平,高存臣..机械臂自适应超螺旋积分终端滑模控制[J].机械科学与技术,2025,44(9):1514-1521,8.基金项目
国家自然科学基金项目(62573248,62003231)与山东省高等学校优秀青年创新团队计划(2022KJ142) （62573248,62003231）
