机电工程技术2025，Vol.54Issue(24)：20-25,6.DOI:10.3969/j.issn.1009-9492.2025.00057
基于自适应非奇异快速终端滑模的3-RPS并联机构轨迹跟踪控制
Trajectory Tracking Control of 3-RPS Parallel Mechanism Based on Adaptive Non-singular Fast Terminal Sliding Mode
摘要
Abstract
An adaptive non-singular fast terminal sliding mode control method(ANFTSMC)is proposed to solve the trajectory tracking problem of the 3-RPS parallel mechanism.The inverse kinematics analysis of the parallel mechanism is performed to obtain the position inverse solution,and the dynamics analysis is conducted to derive the dynamic equations using the Lagrange method.The non-singular fast terminal sliding mode(NFTSMC)control law is designed,and adaptive control is used to compensate for disturbances.The adaptive control law is designed using the second method of Lyapunov.These components together form the adaptive non-singular fast terminal sliding mode controller.The stability of the control system is verified through Lyapunov stability theory.Simulations of the parallel mechanism are conducted to demonstrate the controller's effectiveness.The simulation results show that,compared to the other three methods,the proposed method achieves accurate trajectory tracking control of the parallel mechanism within a finite time and effectively suppresses interference and system jitter.This results in higher tracking accuracy,improved system performance,and strong robustness and anti-interference capabilities.关键词
并联机构/动力学/轨迹跟踪/非奇异快速终端滑模控制/自适应律Key words
parallel mechanism/dynamics/trajectory tracking/non-singular fast terminal sliding mode control/adaptive law分类
机械制造引用本文复制引用
陈黎,赵梦西,王扬威..基于自适应非奇异快速终端滑模的3-RPS并联机构轨迹跟踪控制[J].机电工程技术,2025,54(24):20-25,6.基金项目
黑龙江省自然科学基金项目(LH2019E008) （LH2019E008）
