基于自适应趋近律的采摘机器人关节滑模控制研究

摘要

Using the discrete reaching law to design the sliding mode control can effectively reduce chattering phenome -non of the sliding mode control , but the effects of chattering inhibition has close relation with the sampling time and the discrete reaching law parameters .In this paper , an adaptive sliding mode controller was proposed based on the chattering analyzing of the exponential reaching law , this controller can further inhibit the chattering sliding mode controller with reaching law .In order to verify the effectiveness of the proposed method in this paper , the algorithm has been realized in the MATLAB platform , and it was used to control the harvesting robot , the simulation results show that the proposed algo-rithm has good position tracking ability , and the chattering phenomenon existing in the sliding mode control has been re-duced , and the performance of the system has been improved .%利用离散趋近律设计的滑模控制可有效抑制滑模控制中的抖动现象，但其抑制抖动的效果与离散趋近律的设计参数及系统的采样时间有着密切的关系。为此，在分析指数趋近律抖动的基础上，提出了一种自适应滑模控制器， MatLAB 能够进一步的提高基于趋近律的滑模控制器的抖动抑制能力。为了验证本文所提出方法的有效性，在MatLAB 中实现了该算法，并利用其来控制采摘机器人关节的伺服电机。仿真结果表明：本文所提的算法具有较好的位置跟踪能力，进一步地抑制了指数趋近律滑模控制中存在的抖动现象，提高了系统的性能。