机械臂轨迹跟踪滑模控制中的抖振抑制法研究

摘要

研究机械臂轨迹跟踪优化控制问题,针对机械臂轨迹跟踪滑模控制中存在的抖振问题,采用趋近律的方法来进行有效改善.用传统滑模控制趋近律的基础上,将饱和函数引入到了趋近律的设计中,提出一种改进的趋近律,并根据改进的趋近律设计了相应的滑模控制策略.将新的滑模控制策略应用到机械臂的轨迹跟踪控制中,对系统控制效果进行了验证.仿真结果表明,控制策略不仅有效地抑制了机械臂滑模控制中的抖振问题,而且保证了机械臂系统对期望轨迹的快速跟踪性,具有更好的趋近特性和收敛特性.%The reaching law was used to resolve the problem of chattering effectively in sliding mode tracking con-trol of robotic manipulators. A novel reaching law was proposed by referencing saturation function based on normal reaching law. Furthermore, the correlative sliding mode control scheme was designed. The novel sliding mode control was then used for the tracking of robotic manipulators and its performance was validated. The simulation results show that the scheme can not only control the chattering effectively but also achieve a fast and accurate tracking, which is of better reaching and astringency performances.