现代制造工程Issue(2)：35-41,7.DOI:10.16731/j.cnki.1671-3133.2026.02.005
基于新型趋近律和RBF网络的并联机械臂自适应滑模控制研究
Research on adaptive sliding mode control of parallel robotic arm based on new reaching law and RBF network
摘要
Abstract
Aiming at the problems of the uncertain dynamic and load fluctuations impact on the control performance of parallel ro-botic arm,time-varying term and variable loads in the dynamic model were considered as total disturbance,and a sliding mode control method was proposed.In order to improve the performance of sliding mode control algorithm,a new reaching law consisting of fast reaching term and slow reaching term was proposed,and the accessibility condition and convergence time were discussed.Besides,the Radial Basis Function(RBF)network was used to estimate the total disturbance.To estimate the total disturbance and suppress perturbation of controller parameters,adaptive laws were designed for the parameters of RBF network and controller.Based on the proposed new reaching law and the disturbance obtained by the RBF network,the sliding mode con-troller was designed and the control stability was proved.Finally,the adaptive sliding mode control method based on the new reac-hing law and RBF network was proposed.Simulation results show that the proposed control method has strong anti-interference performance and fast response,reducing the convergence time by 1/3 compared to traditional reaching law controller,and greatly reduced the controller jitter.关键词
并联机械臂/滑模控制/新型趋近律/RBF网络Key words
parallel robotic arm/sliding mode control/new reaching law/RBF network分类
信息技术与安全科学引用本文复制引用
罗云,张大斌,曹阳..基于新型趋近律和RBF网络的并联机械臂自适应滑模控制研究[J].现代制造工程,2026,(2):35-41,7.基金项目
国家重点研发计划项目(2021YFD1300300) （2021YFD1300300）
