现代制造工程Issue(1)：48-58,11.DOI:10.16731/j.cnki.1671-3133.2026.01.006
基于NDOB的关节机器人时变阻尼PBC与优化符号函数SMC协同控制
NDOB-based cooperative control of manipulators with time-varying damping PBC and optimized sign function SMC
摘要
Abstract
To address the issue of the inability to simultaneously balance response speed and accuracy in trajectory tracking con-trol of manipulators driven by permanent magnet synchronous motors,a disturbance observer-based cooperative control strategy of energy conversion control and signal processing control is proposed.Firstly,the energy conversion controller adopts a time-varying damping Passivity-Based Control(PBC)method.By introducing a time-varying damping injection strategy,the method reduces the high-frequency oscillations of the system and enhances the steady-state control accuracy of the system.Secondly,the signal processing controller adopts a global fast terminal Sliding Mode Control(SMC)method,which can improve the dynamic tracking speed of the system.Meanwhile,the optimized sign function can effectively reduce system high-frequency oscillations.On this ba-sis,through comprehensive comparative analysis of Gaussian function,hyperbolic tangent function,arctangent function,and com-posite fractional function,Gaussian function is selected as the cooperative function in the cooperative control strategy.Lastly,a nonlinear disturbance observer is used to estimate the lump disturbance of the system and improve the anti-interference ability of the system and apply to compensation control.The experimental comparison results indicate that time-varying damping passivity-based control can effectively reduce the steady-state error of the system,the global fast terminal sliding mode control based on opti-mized sign function can achieve fast response of the system,and the cooperative control strategy can ensure dynamic fast tracking of joint positions while reducing steady-state errors and high-frequency oscillations,and has good anti-interference and robustness.关键词
关节机器人/无源性控制/时变阻尼注入/协同控制/滑模控制Key words
manipulators/Passivity-Based Control(PBC)/time-varying damping injection/cooperative control/Sliding Mode Control(SMC)分类
信息技术与安全科学引用本文复制引用
郎需龙,于海生,杨庆,郭庆锟..基于NDOB的关节机器人时变阻尼PBC与优化符号函数SMC协同控制[J].现代制造工程,2026,(1):48-58,11.基金项目
国家自然科学基金项目(62273189) （62273189）
青岛大学"系统+"学科集群跨学科联合攻关项目(XT2024201) （XT2024201）
