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山东大学学报(工学版) ›› 2016, Vol. 46 ›› Issue (5): 45-53.doi: 10.6040/j.issn.1672-3961.0.2016.328

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基于自适应终端滑模控制器的机械手跟踪控制

唐庆顺,金璐,李国栋,吴春富   

  1. 龙岩学院机电工程学院, 福建 龙岩 364012
  • 收稿日期:2016-08-23 出版日期:2016-10-20 发布日期:2016-08-23
  • 作者简介:唐庆顺(1965— ),男,福建仙游人,副教授,学士,主要研究方向为智能机器人与机电一体化.E-mail:qingshun951128@163.com
  • 基金资助:
    国家自然科学基金资助项目(61375084);福建省自然科学基金面上资助项目(2015J01268);福建省教育厅科技计划资助项目(JK2014049);福建省科技厅引导性资助项目(2016H0026);福建省自然科学基金高校专项资助项目(2012D103)

Robotic manipulators tracking control based on adaptive terminal sliding mode controller

TANG Qingshun, JIN Lu, LI Guodong, WU Chunfu   

  1. School of Mechanical and Electrical Engineering, Longyan College, Longyan 364012, Fujian, China
  • Received:2016-08-23 Online:2016-10-20 Published:2016-08-23

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摘要： 针对具有不确定性的机械手轨迹跟踪控制问题,提出一种自适应二阶终端滑模控制器设计方法。设计一类非线性不确定系统的自适应二阶终端滑模算法,使得不连续符号函数包含在控制微分项,实际控制作用连续;采用自适应律克服不确定性上界未知问题,基于Lyapunov方法证明系统稳定性;针对机械手轨迹跟踪问题,基于所提出控制方法设计机械手自适应终端滑模控制方案;通过对双关节机械手轨迹跟踪仿真研究,验证所提出控制策略的有效性。

关键词: 轨迹跟踪, 二阶滑模, 机械手, 自适应, 控制, 终端滑模

Abstract: A self-adaptive second-order terminal sliding mode controller was proposed to achieve trajectory tracking control of robotic manipulators with uncertainties. The self-adaptive second-order terminal sliding mode algorithm was designed for a class of nonlinear uncertain system. The discontinuous sign function was included in first time derivative of control item, and the actual control input was continuous. The self-adaptive law method was employed to conquer system uncertainties, of which the upper bounds were unknown in advance, and the system stability was proved based on Lyapunov criterion. The robotic manipulators self-adaptive terminal sliding mode trajectory tracking control scheme was proposed. Simulation results for two-link robotic manipulator demonstrated the effectiveness of the proposed control strategy.

Key words: self-adaptive, terminal sliding mode, second-order sliding mode, robotic manipulators, trajectory tracking, control

中图分类号: 

  • TP273
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