南京理工大学学报（自然科学版）2025，Vol.49Issue(5)：557-566,10.DOI:10.14177/j.cnki.32-1397n.2025.49.05.005
基于非奇异快速终端滑模的线驱连续型机械臂固定时间阻抗控制
Fixed-time impedance control of a wire-driven continuous manipulator based on non-singular fast terminal sliding mode method
摘要
Abstract
In response to the demand for compliant contact between wire-driven continuum manipulators and an task environment in the presence of external disturbances and unmodelled dynamics,this paper presents a non-singular fast terminal sliding mode control method with fixed-time convergence performance.A singularity-avoiding segmentation function is designed to deal with the singularity problem of terminal sliding mode control,and the compliant control of the manipulator is achieved by the impedance control method.The stability of the closed-loop system is proved by the Lyapunov stability theory,and the impedance error can converge in a fixed time.Simulation results show that the proposed control method can effectively suppress the influence of disturbances and unmodeled dynamics,and can still achieve the compliant control effect of the wire-driven continuous manipulators in the case of unmodeled dynamics at 20%of the nominal value,and the trajectory tracking error can be converged to the error band±10-4 rad within 1 s,and the impedance error can be converged to the error band±10-3 rad within 2 s.关键词
线驱连续型机械臂/柔顺控制/滑模控制/固定时间控制Key words
wire-driven continuum manipulator/compliant control/sliding mode control/fixed-time control分类
计算机与自动化引用本文复制引用
毛建,孙小康,陆玉叶,郭毓,郭健..基于非奇异快速终端滑模的线驱连续型机械臂固定时间阻抗控制[J].南京理工大学学报（自然科学版）,2025,49(5):557-566,10.基金项目
江苏省科技重大专项(BG2024041) （BG2024041）
面向轨交车底复杂结构和狭窄空间的全天时智能运检灵巧机器人系统研发项目(JY2024060036) （JY2024060036）
